Step 4: ESP® Check
WARNING: This page is about a different car, the 2006 Suzuki Grand Vitara. However, it is still accessible from the selected car via links, so may be relevant.
According to ESP® Check for the DTC confirmation in Step 3, locate the cause of the trouble, namely in a sensor, switch, wire harness, connector, actuator assembly or other part and repair or replace faulty parts.