The light on the dash goes on saying ESP service, the ABS warning light also on. on 2009 Suzuki Grand Vitara

Took it to a repairman he said its code P1061 or P0161..what is wrong?

Get Your Car Fixed at a RepairPal Certified Shop.
We certify shops based on expertise, quality work, and verified customer reviews
3 answers
those codes are not in all a 2nd scanning and repost
I do know.
What did this "repairman" tell you is wrong?