This is short manual how to completely turn ESP off on Mercedes (in video: 2007 Merc B200CDI). This will turn off also ABS and all electronic guards. I strongly do not recommend this on public road, but there are some occasions, where it could be helpful. Do this at your own risk. And drive responsibly and carefully. There are other people on the road also.
Don't forget, you are doing it at your own risk.
