Q: ABS & Brake light on display on 2003 Chevrolet Suburban 1500

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My wife recently advised me the ABS and Brake light have been on her display each time she starts the vehicle and remains on. The P-brake is off, seems to be braking fine, really not sure if ABS is working or not. Brake fluid if fine, brakes are fairly new. I heard it may be either the P-brake release switch, or the ABS brake sensor. Not sure where to begin troubleshooting. any help would be greatly appreciated.
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If ABS light is on then the ABS portion of brakes will not work in panic stop but if rest of brake system is good then will work like never had ABS from the factory. Need to have code(s) pulled and diag where the code leads you. Sensors are notorious.
Thanks for your response. Any reason the Parking brake light coming on too, it seems they both come on together, the parking brake dings for a few seconds like the parking brake pedal was down in the on position.