Did you have your brakes serviced at a shop? It is their responsibility to fully complete the repair and reset the codes in your system, which is what causes the light to come on. You're first place to turn is them--they didn't finish the job. It may be as simple as resetting the computer.
RepairPal Certified shops can diagnose and repair your 2003 Mercedes-Benz S430. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.