all cars from 1996 and newer use OBD II protocol and you can get a scantool to read those codes for all cars sold in the U.S.
the basic code reader will read codes, scroll through them and erase them. some of the fancier ones will give you the generic definition so you don't have to look in the book.
if you get an OBD-II scan tool, make sure it can read CAN codes as well. (CAN=controller area network)
if you have a car older than 1995 then everything changes. each manufacturer had their own standard. Actron and Equus make a scantool that has the connectors for the older cars, but not all of them. Actron is better because it gives you live data on a few things, whereas the equus I had just said whether a sensor was "ready" or not.