Get a OBD2 Code
Scanner from a local parts store and follow the directions.
$40.00-$60.00 roughly. Advance Auto has one on sale (through March) for about $60.00.
Most Scanners help display Codes through the
check engine or
service engine soon lights for ABS and Engines, plus these packages contain books to explain how to use these devices plus Code references/descriptions.
You may well only need to replace the ABS Sensor/Relay OR maybe a speed sensor at a Wheel.
IT'S CHEAPER to get the Code
Scanner as opposed to having a shop charge upwards of $100.00 to get the same (if any) Codes stored in the E.C.M.
At least by having YOUR OWN
Scanner, you can check for Codes WHENEVER you want.
Brakes work on Default without the ABS and you'll STILL HAVE BRAKES (unless you have low fluid and air in the system).
Rotors and Pads are not very expensive nor are Shoes.
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Keep us apprised of your results.
Thank you for your time.