Engine shudders at low speed, check engine light comes on

Hi there. I have a 1999 Nissan cefiro Auto and recently the car has started to shudder when moving at low speed, almost as if it is about to stall. It happens only once when you first start driving and the check engine light comes on. When you restart the car the light is off and the process repeats itself. At first it was only rarely but it is becoming more common