my ABS is trying to engage at normal stop, then abs lite goes on. Suggestions? on 2001 Ford Escort

car has 96,700 miles, sat for 2 yrs. ABS lite does go out after starting. But the abs randomly tries to engage at a normal stop. Then the abs light comes on shutting of ABS.
ABS lite stays on until restart engine.

Asked by for the 2001 Ford Escort