I had the ABS light come on yesterday for the first time. I wouldnt even start the car and it would already stay solid as soon as I turned the key. What I did to remove the code is pull the ECU and the Backup fuse for a minute or so.
That resets the ECU and any memory saved on it. It will also reset your dash clock, stock or aftermarked CD player, etc. Be weary about it if you dont have the security code for your electronics.
Theres also steps to reset the ecu. Id search, since I dont want to write it up. Your car might run better if you installed I/H/E without resetting the ecu.
Dont forget to pull the backup fuse too.