Notice the D (D4) indicator lamp when the check light comes on, does it flash?
The bad news in this case can be
1 choked transmission filter - which means you get to spend a nice sum of money as Honda (dimaagh se faarigh) designers made the trans in a way they thought the filter was never to be cleaned in the life of the car.
2 - burnt fluid turned to grease - honda pros boxes really heat up the ATF which causes thermal breakdown of the ATF. the remedy is to flush it and pray it works, otherwise a rebuild is required.
The good and easy thing maybe (highly likely as the car becomes normal after warm up).
Your ATF is old and requires change - use Honda Z1 or any approved Friction modified Synthetic ATF with a VI of above 175 and a hot viscosity of 7.0 cst.