What is the ESP malfunction and how do I fix it

In your car faulty Electronic Stability Program system, it's included many different sensors (yaw-rate sensor, steering angel sensor, body acceleration sensor,wheel speed sensors and some more) if ESP visit Workshop message appear on your instrument display It's very hard to say witch sensor could be the fault without right diagnose most common faults are either steering angel sensor or yaw-rate sensor might be some other sensors if you replace yaw-rate sensor it's need to be calibrate by diagnose computer, if replace steering angle sensor it's need to do right way otherwise when you tern steering wheel fully left or right it will brake at first time then you have to be replace another one so like to advise you to get right diagnose and repair buy Mercedes specialist if do some thing wrong it's be more cost to you if you get right place to do it only you have to pay once.

Thanks I will take it to the Mercedes dealer and let you know!