How to change/unstick gears using steering wheel paddles?

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The steering wheel paddles on our 2006 ML350 were mistakenly pushed while driving and now the engine is reaving and sounds like it is going to explode. The paddles have never been used before and nor do we even know how to use them for shifting gears. My 16yr old son just started driving and mistakenly engaged the paddles while holding the steering wheel. Please help and tell us how to get the engine/transmission back to its normal and rightful gear.