The BAS malfunction indicator has gone off in my 2001 C320... I had read that sometimes the brake switch is to blame. My cruise control is out as well and system had the same issue a week ago, but "repaired" itself and seemed to operate fine until just recently running over an unmarked speed bump. I had also done an ESP reset just to double check...

I need to know how to access the brake switch, because after removing the plastic trim around the brake, it seems to be pretty deep within the dash area... Is this something I could do myself or would I be better off just bringing in to the dealer?

Thanks for your help!