When I'm driving the car will beep and the lights all come on the dash?

Hello, your concern is likely due to a problem with the automatic transmission or possible throttle control. Anything that prevents operation of the vehicle past a low speed indicates a problem with safety and control of operation. No matter what the cause, only hands-on diagnostic testing using electronic tools that are capable of interfacing with your Mercedes-Benz can aid in a diagnostic process. Without evaluating and interpreting data, it is impossible to know what is going on. Use this link to find some shops near you that can help with your concern: www.repairpal.com/repair-shops