Why does engine sometimes stall at startup

When I turn key sometimes it just makes a grinding noise, then I turn it again and my truck starts up but right away starts shaking and stalls out. When this happens and I tap on the accelerator a couple times and it stays idling just fine. Truck runs good but im starting to notice not alot of power at take off or if I try to accelerate its feeling a bit sluggish. What could be the problem? Oh and check engine light is always on. Also wiper fluid full but it wont come out, any ideas?