I have a 2002 millenia and a warning light just lit up in my dash. It is orange and under the fuel gauge and looks like an engine. Is this the check engine light?

 

Yes! You need to read the codes before you can start figuring out what is going on! Take it to autozone or somewhere similar, and it is free!

 

Most, but not all when the engine light comes on it's due to the EGR valve.
Clean it! But check your codes ofcourse.

 

is your car a 2.3 or a 2.5? if it is a 2.3, i would bet it is p0171/73, fuel trim. broke vacuum tee, a common problem. you will have to remove a LOT of stuff to get at it. i have had to change them on both cars. i have never had an egr problem.