In the interest of customer satisfaction, Subaru of America, Inc. (Subaru) is initiating a Service Program to reprogram the Engine Control Module (ECM) on certain 2019-2020MY Ascent and 2020MY Legacy & Outback vehicles. In some vehicles, the current software may cause the sub learning value control to operate improperly during the wake-up mode of the ECM. This could cause repeated erroneous learning of the accelerator position which can result in the disabling of the VDC function. When the VDC function is disabled, EyeSight, Reverse Automatic Braking (RAB), and Electronic Parking Brake (EPB) auto release functions are disabled by the VDC fail signal causing the VDC, EyeSight, RAB and EPB warning lamps to illuminate. This program affects approximately 115,729 vehicles.