I had the same fault symptoms a couple of days ago - for the second time!! First time was about 18 months ago and Lexus dealer charged me £900 to regenerate the DPF.
I spent yesterday morning weighing up the available options and came across a post elsewhere on this forum suggesting a DPF clearner might do the trick. So yesterday I Invested £9 in a DPF cleaning fuel additive, chucked it in the tank and headed to the nearest motorway. Had to stop/start the engine a couple of times en route to get out of limp mode. Blasted down the motorway for an hour at 3000rpm and although the warning lights remained on, the car no longer reverted to limp mode. Was disappointed this morning when the lights were all still on but I set off on a 10 mile cross country journey. Maintained 2500+ revs wherever possible on the outbound journey and arrived with no problems. When I switched the engine on for the return journey the warning lights had disappeared. Time will tell if it's a long term solution. Fingers crossed. I'll update if it was a false dawn.
My strategy for prevention of similar occurrences is to keep the revs at 3000rpm+ on longer journeys once a month or so and use the DPF cleaner every 3 or 4 fill ups.
All adds extra expense but (hopefully!!) will save a lot of hassle.
But if you suffer these symptoms don't panic. Give it a try, No idea what the success rate is but it seems to have worked for me and at less than £10 it's got to be worth a shot. I just wish I'd known about it last year before I paid the dealer £900!! It might not have worked but it will certainly be my first option next time I see the dreaded Check VSC and engine light combination. The one I used is Wynns (Available at Halfords) but there are others avaialble online.