Lights are on but car will not turn on into drive or anything- I notice that the eps warning light is on

SOURCE: warning lights

hi this could be one of a couple of problems the first could be that the alternator isnt charging the battery properly unless you get the revs up then the lights go off. This is the usual problem
The second problem would be a bad earth that comes from the battery if this is the case then removing the earth wire where it comes from the battery and goes to the engine or chassis and then clean behind where this earth touches the chassis or the engine use something like sand paper to remove any corrosion then put the earth wires back on then check if you still have the problem.

Is the brake and battery warning light just one light or is their a light for the brake warning light and a seperate warning light for the battery.

As you say when you apply the brakes or signal these lights come back on then it is going to be a voltage problem it could even be that the battery needs replacing this will need to be tested.

The first thing you should do is get the battery and alternator tested as one of these or even both is often the cause of the problem you are having.

Let me know how you get on or if you have any problems or questions just give me a shout back ok