A similar fault occured with my VW Golf IV 1.9tdi It came on intermittently then after about 6 months came on and stayed on.
I took it to an auto-electrician who hooked it up to the diagnostics and told me that the 'lateral movement' sensor was shot. Over 400 Euro from a VW dealer but I managed to source one from a breakers yard for 120 Euro.
All was well after that. If it is the problem then you need to be careful which bit you buy. There are 2 different series depending on the year/make and, apparently, they are also specific to the bhp of the engine, i.e. a sensor sourced off a 1.6 petrol of the same model and year won't work in a 1.9 diesel. I think its something to do with the overall weight of the car, inertia etc but I'm no mechanic so feel free to correct me!
First stop electrician and then have a look in the UK for the part. There are more specialist breakers there and they're cheaper. Got my bit from a crowd in Essex (can't, unfortunately, remember who they were as it was a few years ago).