Check emissions

Check emissions

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Hi, my check emissions light comes on and goes off. I've been told the lambda sensor needs to be changed but it's ok to drive. The warning could be off for weeks and can come back on for weeks.
Is it really ok to drive? I've been told there are 2 lambda sensors on the car, grande scenic 2004. How do I know which one to change or is it a garage job? Can get to the diagnostics plug as the centre console won't slide back far enough.
Thanks

Currently in naomiconcas's garage:
2004 Megane grand scenic 1.6

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Check emissions