Freelander 1 engine warning light

advice please 2006 td4 started car ok drove for around 1mile then engine warning light on dash come on,the orange light engine one on the right with exclamation mark on,the car drove ok for another 5 miles with light on,stopped for 10 minutes,started again ok,light still on,then carried on driving and light goes out,drove home around 10 miles no problem light still out.whats wrong with car and do i need to be worried

You need an ODBII code reader to read the codes as to why the light came on.