Advance auto or O'Reilly's or other McParts places will do it for free. Or give you the reader to do it yourself. Like MercFan said, get the codes read and post them here. There are quite a few W210 owners or former owners here on the forum who can help you out.

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Muleears
'07 E320 Bluetec 133K my DD
'04 Jaguar XJ8 VDP, 34K
'10 Hyundai Accent 60K Grocery Getter
'02 VW Golf soon to be on the road again
'97 E300 Diesel Son's DD
'61 VERY tolerant wife

Hampton Roads, VA USA

Gone but not forgotten:
'67 250S 95K
'86 300SDL
'87 300D Turbo, 364K! R.I.P.
'98 E300 Turbodiesel, 213K
'02 S420, 164K
'01 Prius 138K