Brake Assist,BAS,ESP

[jpwilliams]

WHILST DRIVING NORMALLY 2 DAYS AGO I TOUCHED THE BRAKE PEDAL LIGHTLY AND THE ABOVE LIGHTS CAME ON WITH THE MESSAGE "VISIT WORKSHOP"
I drove home switched engine off and was informed that I had 3 malfunctions.Next day,malfunctions had cleared,all was well no problems occurred.
Today,problem returned when I touched the footbrake (after braking many times).The brakes seem to work perfectly but the warning lights stay on until I switch engine off.
Car is 2003 W210 Auto Est E220cdi having covered 86,000 miles.
Can anyone advise what the problem might be before I visit the local dealer please?
Many thanks
John

[television]

Hi john,just change the brake light switch that sits above the pedal,easy to fit and cost around £10

[AMGBoy]

poss faulty brake light switch

[Ian B Walker]

Or an abs sensor as happened to a car I was working on today.

[television]

Or an abs sensor as happened to a car I was working on today.

Don't think so as its when he touched the brake pedal

[Dieselman]

As others, brake light switch.

[Ian B Walker]

Don't think so as its when he touched the brake pedalThat will teach me to read before I write, apologies all.