ABS light just came on

Hello!

I hope someone can help me out.
I have an 02 s40 that we bought new. It's been a really good car. Recently I started hearing just a slight sort of squeak when steering right around corners. No big deal just once in a while a slight squeak. So today, before I changed the oil, I jacked the front of the car up, with the front wheels off the ground and supported by stands with the rear wheels chalked front and back. I then crawled underneath to check things out. I had my Wife (It's her car by the way) turn the wheel lock to lock while I listened and looked. Nothing seemed out of the ordinary so got out from under the car, had her start the car, foot on brake slide it into park then release the brake. I stood to the side listening for unusual noises. I had her increase throttle just a bit to apply more spin to the passenger side wheel. I guess it's not the primary drive wheel and that's why it was spinning slower. anyway I heard nothing unusual so she applied the brake, set it in park and turned the ignition off. I went about changing the oil and thought all was well until I went to pull into the garage and noticed the ABS light on. It had never come on at anytime prior except at normal startup. So I was wondering if anyone had any clues as to what it could be. I really don't think it's a coincidence. I think it has something to do with having the front end raised and having the car in drive. Maybe because the wheel speed sensors freaked out??
I would greatly appreciate any help or advice.

Thanks!
Kevin

 

i would say you just need to reset computer take earth lead of battery for 15 minutes.