yaw sensor! where is it????

[v6dub]

hey guys, this is a bit of a double question, i need to replace the yaw sensor as it keeps droping out and making the esp light come on, it has been scaned by vag com, also if this sensor is playing up would it make the abs pump cut in and out at random, the light has been coming on and off for a few weeks now, but it has not been a problem, until today, the abs pump was cutting in very violently when the esp light was off, as the light come on to show the traction control was disabled the abs pump did not cut in any more,
please please help, the yaw sensor is 389pound (pound key not working)
thanks very much.
Dan

[kenney]

Hi The jaw rate sender -G202 and the lateral acceleration sensor -G200 are secured to the bearing block for the steering column

[v6dub]

thank you so much mate you have saved me so much money, now i can do it myself,