ABS light and DCS inactive Fix.
 

I know some guys are asking about this on here so I spoke a SA when I was picking up a sunshade clip today.

If these lights come on it is more than likely the Speed Sensor. If your OBD scanner comes back as Left front speed sensor, then swap the left and right speed sensors and scan for codes again. If it now comes up as the Right front speed sensor you now know you have a faulty Speed sensor (about $70 according to realoem.com). However if the error code still comes up as Left front speed sensor, then your control unit needs to be replaced.

Good luck.