I changed my front and rear brakes, and upon completion while driving my BAS and ESP dash light came on and remained on while driving. Also it stays on while the ignition is in the on position.

How do you get the light to turn off?

 

Welcome to DF
First I would back track on your repairs and see if a wire may have been pinched or a sensor that maybe loose. If you don't find any problem, you may need to go to the dealer and have them pull codes.