2001 2500hd won't smog

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My ses light came on and showed a po161 code. I cleared it and it came back on.A few days later it wen't out on it's own.The day I was going to smog it i scanned for codes a found nothing, but the truck failed smog.The guy told me to drive it some to recycle.Does this sound right? Thank You.

[StoneyPgh]

Sounds like you should have addressed the 161 code.

When my SES light came on, I had it checked out and

ended up replacing two O2 sensors. Problem solved.

[GetMore]

Yes, that sounds right. When you cleared the codes you also cleared the readiness monitors. When the emissions check computer scans your PCM it looks to see that those monitors have been set. If two or more are not, you fail.

The engine has to meet certain operating parameters to set the monitors. A certain amount ot time idling, some coasting, some part throttle, among some other things. So yes, you should be able to set them by driving for a few days.