I have A class mercedes Benz ASB,ESP light came on after 1 mile drive what should i do, to drive the car or not before it fix.

It is OK to drive it I recommend you fix it when you can It is most likely the stop lamp switch located on the back of the brake pedal part is 25-35 dollars depending on where you live have it tested before replacing. If it tests good you have a faulty brake sensor in one of your wheels check brakes

As per the prior mail, most likely the brake light switch, however if it isn't, and your w168 is a 1999 ,2000 model, then they are known to blow the mass air flow sensor which on this model is expensive to fix. If the brake light solution doesnt work, then you are best getting it plugged in to a mercedes "star" programme as this will tell you the faults and will also clear resident codes, other non mercedes benz OBD type "scanners" dont go as deep into the canbus system used on the merc, hope you sort it out.