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ABS warning light

Car  Clio 172 rep
driving my clio today and my ABS light has came on and the service light, when im braking it makes a judery sound and taps on the peddle as im braking as if its my abs kicking in, i dont have a clew whats wrong, Any help?? how much is it gona cost to get fixed?

Thanks much appreciated.
 
Sorry to bring this thread up but I also have this problem and it's only just come on as I pulled onto my driveway.

Would like to know if there is anything I can try to resolve this issue, also where is the ABS sensor?
 
Just an update, lights are now off I simply went for a drive done a few harsh braking and 3 stationary pulls on the handbrake and the lights have gone off.

My guess is it was a sticky sensor?
 
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