Kenmore Elite Dryer Drum light on, won't start

The power turns on, I select the mode, but the dryer won't start... It just beeps. So then I notice the "drum light" light is on on the control panel. When I open the door it turns on and when I close it it turns off... Seems to be working, although it does feel hot to the touch. After waiting about 5-10 minutes and trying again, the dryer will start... Please help???