Traction Control Light staying on

[Guest 2]

Try a full lock left to right once or twice and drive in a straight line.

It *may* go off if the battery has drained and its lost its steering calibration.

[Doctle Odd]

If the ESP had a fault code stored the ecu will assume it's not working, you don't try to turn on the light when you've been disconnected from the grid

[Baker9]

Get it on VCDS.
I suspect that the ABS pump has failed. This is a well known fault with VAG cars especially if fitted with the Teeves mk60 abs pump. If you do a google search for this you will see what I mean.
Rebuilt pumps can be bought on an exchange basis. I had the same problem with my car, the ESP light was on all the time but not the ABS light.
Do google search for BBA reman, they supply rebuilt pumps, but first check the error codes and what they mean.