finally fixed it, light are now gone, did not test drive yet. I have pics to share but don't know how to attach the large files. I attached one but too small. Thanks Ken P for the pics, somehow I was not able to take the carpet cover out so I took the plasic cover out instead. 20 minutes tops. Quick and easy. P.S. to test a broken switch, step on breaks before starting car, hold it for a while then release the brake pedal, at this piont the lights goes on and not while after you start the car then very likely the switch is broken, the other problem can be ABS sensor. The sensor might need cleaning, but sometimes may not work.. If all fails then Sorry dudes, back to the dealer.
Thank God it was just the switch for me. Good luck goes

who woulda known something simple like a brake switch would go bad on these cars??

well, look at it this way. switches are moving parts too. The good news is that its easy to change , just like a light bulb.

Hi Guys,

I am facing something similar. I have a mercedes s500 1996 model, it's japenese specs. The problem I am facing is, when I run the car after it has rested a while, the ABS/ASR light turns on, the steering wheel becomes a little stiff and the break works normally, though the car does not go into limp-home mode.

Please advise me as to what might the issue be? Is it a problem asking big investment? Or would it just be a problem of ABS pump/sensor etc? As I have read elsewhere that when the ABS malfunctions the ASR turns off automatically.

Now why is my steering becoming stiff? I don't understand that, and when I start it again after a while, everything is normal. Can anyone please explain?