the noise gets worse when I am at a full stop when the steering wheel is turned even a tiny bit. The engine light comes on, but I have no idea where to begin. Any ideas?
check all the belts and hoses, make sure nothing is leaking, the power steering pump may need fluid or it may be full and the pump is going bad. Either way, you need a mechanic to do some general checks and see if anything obvious is wrong. If for example the power steering pump is so far gone it takes the engines power just to move it, this can affect the engine and it will not run right.
A loose or contaminated serpentine belt. It's worse when you turn the wheel because you're putting a load on it. The engine light might be unrelated. Just get the thing read so you won't be guessing.
Sounds like a worn belt or power steering pump issue. You can take you car up to a local auto parts store and the will check your check engine light for free. Also have them take a glance at your drive belt and power steering pump fluid. Some of guys that work at these places are not the smartest rock in the bunch. So don't take their word solely. Take your car into a repair shop for professional diagnosing.