SOURCE: How do you reset maintenance indicator on a 2006
u can check cls manual or take it to a dealer.
SOURCE: how to reset the srs
Before resetting the SRS I would advise to take note of the error. You would need an OBD scan tool for you to get the errors and to reset the SRS.
On the fuse box found on the driver side of the car you should see the port for the OBD tool. Connect the OBD tool. Turn the key to the 'Run' position (the one before 'start'). List down the codes and make necessary repairs with the shop. This also resets the SRS if you wait for the light to go off before disconnecting the OBD scan tool.
SOURCE: What does ESP light mean on a cls 500 Mercedes
The ESP system means the Electronic Stability Program. If the ESP lights on the dashboard permanently the ESP system is faulty.
You should access the ESP Electronic Control Unit (ECU) memory for pull out all DTC (Diagnostic Trouble Codes), using diagnostic equipment connected to the data link connector of the car. Then you will be full informed about bad pieces (e.g.: brake pedal switch, front right wheel abs sensor interrupted, ...). After bad pieces replacement you will be able to erase all faults memored by ESP ECU, in other words reset the ESP system and turn off the warning lamp on dashboard.
Check & replace if necessary the brake pedal switch placed above pedals on the support.
If the problem still occurs you should access the ABS & ESP ECU (Electronic Control Unit) using diagnostic equipment connected to the data link connector of the car, in order to pull out all DTC (Diagnostic Trouble Codes) memored.
Then you will be able to replace bad piece(s) and fix the problem by erasing all DTC stocked inside ABS & ESP ECU, and reset it. 
SOURCE: mercedes cls 500 2006 battery dead but is now recharged lights work but moter will not turn over
starter motor could be bad motor could be locked up pulley could be locked up there arealot of things it could be just elimate the quick and easy problems first
SOURCE: what does code p2767 means for a cls 500 mercedes benz
P2767 input/turbine spped sensor B circuit no signal
This is a TRANSMISSION CODE
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