I have a light skin myself and some dark circles, not enough to make me look like a panda, but definitely to bother me.
Mine are blueish considering my skin is so thin my veins show through.
So what i do is apply a salmon liquid concealer (a salmon, peachy color will counteract blue). It's the select moisture cover concealer from MAC, in NW20.
Technically you should apply your foundation first because your foundation already hides some of your problem areas. But with my salmon concealer, and maybe also because i'm a tad lazy, i prefer to apply it before.
You can also try a yellow based concealer, it's pretty much the universal color of concealer, that way it can be multitasking. Make sure you pick the right color, hat's the most important. Usually i will ask for advice from a pro.
Concealer comes in liquid, creamy or thick consistency. The heavier the texture, the fuller the coverage. Considering you don't have much dark circles, a light texture is better. Thick textures are also cakey under the eyes, actually they're made to conceal spots on your face but not your undereye area.