Front left wheel brakes itself, while driving. What is going on?

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Every once in a while, when I start the car and begin to drive, the front left tire will stop itself and my ESP slip light will come on. It will do this about every 5 to 10 seconds until I key cycle (shut the car down, start it back up). After that it goes away, sometimes for 24 hours, sometimes for months! There's no warning lights on otherwise. As it only happens intermittingly, my mechanic was not able to replicate the problem, therefore unable to fix it. Any benz geniuses out there encountered similar?