Any time you make a height change in your suspension, your steering wheel will turn one way or the other, and will need adjustment. If it's turned off center too much, you'll get the ESP light turning on.
Take a look at the second picture (after the two videos) in this post
. Look at the purple outlined drak link. Right where the purple arrow is pointing is the turnbuckle, with two bolts on it. Loosen (but do not remove) the two nuts on the turnbuckle (15mm wrench I believe), then rotate the turnbuckle until your steering wheel is centered. Tighten back up the turnbuckle nuts and take the Jeep for a little spin down the street to check it, and readjust as needed.