how can i fix my esp light it is staying on?

Quite a common and expensive fault unless your car is still in warranty. Even if just outside warranty VW will often make a contribution as long as the car has been dealer serviced properly.

If your car is more than 3 years old and you have not a full main dealer service history then try:
http://www.ecutesting.com/ate_abs_pumps___modules.html
for a cheaper long term solution.

ChicksFan
December 2010

try working the wheel lock to lock. If that doesn't work it will need scanning

mags
December 2010