Do you have a robots.txt in your webroot? If not - create one. If you do, make sure it has the following (click 'View entire code block' to see all lines):
Ok I updated my robot.txt file and resubmitted my sitemap. But I still see the errors when I do a search on my URL in google. Does this just take some time to go away?
Basically that file will tell search engine crawlers (well at least the major ones) to not crawl and index the disallowed directories.