Well this morning when I fired her up to come to work the SLIP light was off and the VDC Off light was still on. Toggled that off by pressing the VDC button. So hopefully all is well.

There is a reset procedure if both of those lights come on according to the owners manual (Section 5.29). You need to set the steering straight, then fire her up and drive over 10mph for 10 minutes and that should reset it!