RepairPal Certified shops can diagnose and repair your 2002 Mercedes-Benz C240. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
ESP is Mercedes stability control. It is the car's way of stabilizing itself for safer turning control by using the anti-lock brakes ans electronic suspension controls.
http://www.4x4abc.com/stability-control/esc-description.html