ML 270 CDI Gearbox Locked

[mygale]

Hi Could any one throw some light on a problem i have with a 2004 ML270CDI Tip auoto. Stooped at Lights put car in Park and then could not get out of park. Switched Ingintion off waited a while and mananeged to get in to drive but car seems to be in first or Limp mode, Prior to it locking the car made a beeping noise like hand brake left on but was not, also had orange warning light come on. Recently had Gearbox Oil Changed.

Any help would be much apprecaited.

Shaun:

 

[Cole@MBS]

Welcome.
Every time i have seen that fault with the beeping it has turned out to be the ESP control unit gone down!!