My ESP is pulling my Pacifica to the left and right upon acceleration or decele? on 2007 Chrysler Pacifica

The ESP light has come on and I have not hit the button, and removed the switch . It is causing my vehicle to pull to the left and right depending on wether I accell or decell. It is causing me to almost cross over traffic.

Asked by for the 2007 Chrysler Pacifica
scan codes and post so we can adv
I will have to do it tomorrow before I have to goto work.