It seems that low coolant was causing it. Because it was only coming on when idling or going slow, I thought maybe it was a heating problem, even though the guage wasn't showing hot. I topped off the radiator and it did take a fair amount. Ran it all day today and the MIL light never came on once. I guess it doubles as a low coolant light also. Now to figure out where the coolant went.
Thanks for the reply NMKawierider.