2000 Mercedes Benz ML320 GEAR SHIFT LEVER WON'T COME OUT OF

PULLED INTO A PARKING LOT - AS I HIT THE BRAKES & TURNED INTO THE PARKING PLACE THE BAP/ESP LIGHT CAME ON - WENT INTO STORE & WHEN I CAME OUT THE CAR STARTED BUT THE BAP/ESP LIGHT STAYED ON & THE GEAR SHIFTER WOULD NOT COME OUT OF PARK (WHEN I APPLIED THE BRAKES) - HAD TO MANUALLY OVERRIDE TO GET OUT OF PARK - CAR DRIVES FINE - BAP/ESP LIGHT STAYS ON & IT LOCKS UP IN PARK SO YOU HAVE TO MANUALLY RELEASE SHIFTER EVERY TIME YOU DRIVE -
SEEMS LIKE SOMETHING "LET GO" DOWN BY THE BRAKE PEDAL - ANY SUGGESTIONS ???