Which light is coming on? The one with the 'tire tread' logo indicates low tire psi...the one labeled TPMS is a diagnostic light to let you know something is wrong with the system (ie the receiver on the bike isn't picking up a signal from the sending unit on a wheel).
If it's the TPMS light (fault indicator), you're probably gonna have to see the dealer as there is a necessary diagnostic tool and software needed to troubleshoot and if necessary, 'register' a new wheel sending unit. With a '10' model you should probably be under warranty yet. If it's the tread light, check your tire psi.