The first thing you should do is check the air pressure in the tires. Does the words TPMS actually light up or is there a picture of a tire with an exclimation point lit?
If filling the tires up with air and driving the car over 30mph doesnt turn the light off than chances are there is a problem with one of the sensors. Usually they are the part of the system that commonly fails.
Continuing to drive with the light on will not harm anything. Its just a tire pressure monitoring system. Basically warning you when a tire is low and prevents rapid tire wear or running it flat.
Only the letters TPMS light up. There is no alert for a specific tire that is low in pressure. The light is always off when i start the car and after about 15 minutes of driving the light comes on. I have also read that the sensors being installed incorrectly can cause the VSA to malfuntion. I would appreciate if you can respond on this as that is my reason for asking if I can safely ignore this warning.