How do i get rid of the ESP code?

How can I permanently delete the fault code on my dash of my 04 ML320. Amber code says ESP and something else. Lower left corner of instrument cluster. Thanks, Jim ([email protected])

I got the same problem on my ml320, esp and BAS light comes on on bottom left corner, also, when the esp light is on cruis control doesnt work, but when the light goes out after a while, cruise controll starts working again, this is very annoying, help anyone plz!!!