2000 Manual Honda CRV misfiring?

Earlier today my CRV misfired on my way home, while I was trying to get it going in first. Once the blinking engine light turned on I pulled over and turned the car off. A couple minutes later I turned the car back on and it seemed fine. I had to drive 2 hours back home and it sounded fine and no lights came on. Do I still need to take it to the mechanic?

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