Fault code for CAN Communication, then ABS light on, what should I do

Did both lights come on together (at the same time)? If so problems could be related (one computer not talking to another in your car). I could tell you what the area in which the problem lays but anything CAN related is beyond the scope of any repair shop without Mercedes compatible capabilities or software.

you may want to check your brake switch. it's right above the brake pedal.