Check Engine Light Car stalls

Hey guys whats up, I new to this forum and VW's. My girlfriend and I have a 1999 Jetta VRK with auto transmission. We let the tags expire cause we always take our other car to work. Well its time to get the thing registered but it wont pass emissions cause the damn check engine light is on.

Now the car hesitates when accelerating from a stop. But it will suddenly just take off and go. Do I have to take it to the dealer to have the codes ran? Just curious as this is what a friend told me. Any help would be appreciated. Thanks.