I am new here and have made some service work to my 2004 - E500 like air filters oil and filter change and heater controll valve replacement and serpentine belt replacement. Can anyone tell me how to turn off the service D message and is there a list of what needs to be done at service D?
I thin it is on the dash but I dont know the steps to do it.

 

You would find the instructions from the W211 section which is for your car. Konigstiger has posted all the necessary info, including the decoding of service items indicated by FSS and how to clear FSS.