Cruise control system/ brake switch has came up what can I do

Question

my POLO VW 2006 EPC light came up, then followed by the warning light for the exhaust gas lamp.
I have driven the car for about 11 miles with the warning lights. next morning the EPC light went off, but exhaust light stayed, also noticed the car was not driving as fast as it should. Taken it to Kwik fit, they told me the warning light did not come when they switched it on. They did diagnostic check and the PO571 code came up with cruise control/ brake switch, possibly misfiring.
Kwikfit told me to get an auto electrician to look at it as they cant help in this area.

Now what do I have to do?
Can I drive it safely?