ESP light on...help?
 

Hi all, this is my first post and I am hoping some of you can help me.

My wife has a 2 liter auto bettle (2001) where the ESP light has come on, also the brakes feel very spongy with a lot of pedal travel while the car is running yet feel OK with the pedal firm when the car is not running!

Also since the light has come on you are not able to select any gear with the gear stuck in park even with my foot on the brake?

I am guessing it will not let me select drive due to there being a brake problem? Could it be a faulty master cylinder or servo causing this?

Is there any way I can figure out the problem and not have to take it to a dealer for some sort of diagnostic?

I have same issue on my 1995 740i and whole tail light assembly stops working,the brake,tail,signal,back up head.light..even io need help i feels like to roll my car off a cliff,,, banghead.