Overheating problem in MacBook Pro
MacBooks, especially Pros, do heat quite a bit when under heavy use. It is is perfectly normal. You can however check you system by downloading a temperature monitor. Most also allow you to monitor/control your fans. I personally have used smcFanControl before, but the app in the previous answer should do too. 

I once had a MacBook (2006, black model) with a faulty fan. It broke after years of use and plenty of dust. If the computer detects it is overheating past a certain threshold, it will automatically shut down to protect its components. I'm not sure what this threshold was, but I want to say about 100 degrees Celsius. 

As long as the temperature of your Mac is not approaching this threshold and your fans are functioning properly, it should be fine. Don't hesitate in taking it somewhere to be checked if you're not fully confident however!