Most likely cause for the ABS light is magnetic crud stuck to the front wheel sensors.

You can do this with the car on the ground. You'll need an allen wrench or similar hex-head tool to back out the mounting screw for the sensor. With the screw loose, GENTLY wiggle the sensor backwards out of its mounting hole. The tip will be all black and furry looking. Clean it off, gently work it back into the hole, tighten the bolt, turn the steering wheel to the other side, and repeat the process for the second side. Clear the OBD code and take the car for a test drive.

The rear sensor is inside the differential housing, and doesn't get dirty, so no need to worry about that unless you've also got a check engine light (and a code for "vehicle speed sensor signal missing") and a wonky speedometer. When it acts up, the wiring rather than the sensor itself is usually at fault.

John