ABS light on, tapping break on 1992 Toyota Previa

What can I do? My Previa 1992 Model ABS light come up when on highway. When I apply break, there is a tapping on my feet. Thank you

Asked by for the 1992 Toyota Previa
Your local Dealer or your local repair shop should perform a complete inspection of your Brake system. Special tools and Equipment is needed to Trouble shoot an ABS Light with the use of a Scanner and obtaining trouble codes in your ABS Computer system. Once trouble code has been obtained proper inspection and repair procedures can be made.