Indeed try to use a Honda diagnostic device or have a dealer take a look. Something to check yourself would be your CVT fluid. To do this, make sure the engine is no longer cold (blue engine temp light is off), turn off the car and check the dipstick after a minute or so, but before 90 seconds have passed. You can also check it sooner, but just check it a couple of times then. Level should be between the two upper dots on the stick.
At any rate it indicates a fault with the transmission, so personally I wouldn’t drive it unless absolutely needed.Transmission replacement or repairs would be costly. Oh and if you go to the dealer, make sure to ask them for the CODES. Some of them might simply state ‘your transmission is broken’ and go on to suggest the expensive repairs.