vivh,
If your ESP light has come on, you'll need to get it plugged in to confirm the fault first. The common fault is the ABS unit pressure sensor and will involve replacement of the hydraulic part of the ABS pump (the electronic side of the unit is 99 times out of 100 OK).
Once the fault is confirmed and repaired, the ABS, ESP etc needs reprogramming otherwise you can get a problem like the OP had. Depending on the type of systems fitted, you may need to carry out an ESP reset drive : with the car stationary depress the brake pedal very firmly until the ESP light flashes. Drive the car no faster than 15mph for approx 1 minute and turn the steering wheel at least 90 degrees twice (left and right). The light should then turn off and the procedure is complete.
If still no joy, you may need to carry out the same procedure but with the diagnostic equipment connected thus forcing the cars ECU into completing the reset.
Good luck, and post back with an update ?
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