TCS stands for traction control system, you can go to your local auto parts store for them to read the code that is setting your check engine light. This may give you some idea of what's wrong before going to your mechanic.
I am not familiar with the TCS for an Acura. Just a guess that it could stand for traction control system? A good rule to follow that if your engine light comes on, but is not blinking, and the vehicle is running ok, then it is usually safe to drive it to a garage. If the engine light is blinking or the the vehicle is running rough, smoking or has an odor, it*s best to stop driving the vehicle immediately and have it towed.
〉 Answered on Jan 6th, 2009 by Suzanne Grego, Technician at City of Philadelphia Fleet Management