Ok, so the ESP is the "Electronic Stability Program".
There's a bit of explanation and backstory here from Mercedes. (Which I found quite interesting.)
There are a couple things you can check before resorting to a trip the the shop. I'd do them like so:
Tire Pressure - Get an accurate gauge and check to make sure all tires are close (probably within +/- 2-3 PSI) to the factory spec on the label (assuming stock wheels and tires are installed). You will get some changes in tire pressure while driving, especially at higher speeds and stress levels (like bumps on the highway). Incorrect tire pressure reads could affect how the computer thinks it needs to work, and getting the tires in the right range could get it working properly again. Also if your tires are very worn, you may need to replace them as that could also affect tire pressure and/or traction control readings dramatically.
Brake Fluid - Make sure you have the appropriate amount of fluid as spec'd in your owner's manual. Bringing your fluid to spec could resolve the issue since it is a braking dependent system.
Brake Pad Wear - It may be hard to get a good angle, but try to see how much of the brake pad compound remains. If there are other indications (like the squeezing brake indicator) replacing the pads may resolve the issue.
Check Battery Voltage - Like Jason C said, the battery could be an issue. And if the battery is the original battery, it may be due for replacement anyway (after 8 years of use). So the a DC volt meter and check that the power between the 2 battery terminals (when the car is off) reads 12-14.5 volts. Anything less could create problems in theory.
If none of those points are bad, or when corrected don't fix the problem after a day or two, then definitely take it to a shop. Just like Jason C said, there can be MANY causes and the only way to properly diagnose a car requires some specialty equipment and a lot of training/knowledge.
I have seen things about disabling ESP, but if you're used to driving the car with working ESP, disabling could be extremely dangerous for you and others since it could cause you to wreck. So I definitely DON'T recommend doing that.
As a final point, if you have had any work done on it recently, please update with that information as well. Changes done can also affect the ESP.