Infiniti: 94 Q45 TCS Problem

I have a Slip and TCS light that comes on when I start up my car! When I
turn the key to the ignition to the first position I hear what sounds like a
pump turning on and off rhythmically for about 5 seconds then the sound
stops and the yellow Slip and TCS light comes on. It doesn't effect the
driving of the automobile. Does anybody know how I can fix this problem?

Robert King