Possible causes listed as Selector lever cable adjustment or gearbox control modual.
There is a test procedure given,though i'll need to dig further for that tomorrow.
Message Thread 
Mercedes Benz Vito 2.3 CDi 2003 - Code P2015 driving position switch signal improbable # - Piotr Sokolowski September 3, 2012, 10:36 am
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