If not try wheel sensors, my c class is same age and I have replaced all 4 after the same warning lights came on last summer and again at Christmas, if its an auto you may find it jams in 2/3 gear also if you continue to run it. Fault codes will also need to be cleared. Sensors cost £45 +vat from dealer and you may as well replace all 4 they are only a coil of wire in a plastic case and once 1 fails its only a matter of time before rest go. Biggest cost is diagnostic and fault code clearance, although apparantly lights on dash go out if you replace wheel sensor at fault but error is still storesd in ECU. Good luck hope this was of help Ron.