Here's the deal, this stuff will cost you about $20 max. Go on flea-bay and get yourself a vag-com cable for about $15.
Follow this tutorial:
http://www.audizine.com/forum/showthread.php?t=158766
The Ross-Tech software here:
http://www.ross-tech.com/vag-com/download/archives.html
You do not need to pay for the full version to clear codes or make the mods we are talking about here. You do need to pay if you want to see things like pending error codes (ones that haven't caused the CEL to come on yet) and data logging ability.
Done. Now you can see your own CEL codes etc instead of paying the dealer, enjoy.
One more edit, I think this works on both B6/B7s. I should warn though that the upcoming models will probably use the CAN interface (A3s and A8s already do) Those cables are different but can be had for $30.
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