Light had gone when I picked car up from garage but 2 miles up the road I filled up with petrol and then engine light was back on. Should I just drive it for a bit and see if it goes off?

You really do need to find out what the car thinks is wrong to bring that light ON.

It needs scanning using a fully VW Group compliant scan tool - such as VCDS or Carista etc, and take it from there.