Why does my rav4 2007 makes silly vibration when I applied brake on motion ?

A problem exists within the ABS (Antilock Brake System) .. When lights are on, the system defaults to conventional brakes and seems to operate normally .. When the lights go off, the antilock system starts operating again and the vibration returns because of brake controller pulsation 'due' to the problem within the system .. The ONLY way to determine the faulty component(s) is to have a professional scan test performed on the ABS module which also has control over the other systems - VSC etc.. It could possibly be one of the wheel speed sensors or wiring to one of the sensors but it is impossible for ANYONE to know without testing!