Most likely cause would be the stop lamp switch, located on the brake pedal. Do you know the code? If the code is C1200 then it IS the stop lamp switch. Just remove the underdash panel and you can see and replace the switch.
the code c1000
It means your break pedal switch is stuck is open position. remove the under dash plastic panel and release it with your hand and your car is good to go.
In most cases it means one of the wheel speed sensors has gone bad and needs to be replaced.
bas esp light
Could be failed brake light switch
in the fuse box of the engine compartement, take of the cover of the box then see that
It is integrated onto the ABS pump in left front of engine compartment.
center your steering wheel
It should tell you in the handbook. For the SLK it is turn the steering from lock to lock whilst the engine is running. May be the same for other Mercedes.
I used to get the same light frequently. What I do is, make the wheels in straight position, stop the car, stop the engine, remove the key and then start the engines again. this is it.
The ABS (anti lock brake) computer has detected a fault in the ESP (electronic skid protection) or BAS (brake assist system). You will need to have the system checked for codes to know possible causes.
You have to fix the cause of the code that is set in the ABS module.
Why is my 97 mercedes e420 abs and esp warning light on?