The P0572 error is an industry standard code for low voltage in conjunction with the cruise control or brake controls. On a Harley it would apply to the switch assembly on the handle bar. Could be more to identifying the problem, but this is the starting place.
First thing to check is the front brake switch which could be stuck or dirty. Its on the side of the master cylinder and is activated by the brake lever. Also check the condition of the cruise control switches and if any need cleaning.
Have you done any modifications lately, like changing out the handlebars? If so, check for loose connections, pinched wires, and cracked insulation. If you don't have a Service Manual for your Tri-Glide, get one. If this doesn' t solve the issue, let us know with full details of what all the symptoms are, what modifications have been made, when did you first notice the problem, etc, etc. Details help.