How do I find and fix code p2159 in my 2012 Hyundai accent?

Also the break light and abs lights are on as well

There are a few things that can cause this code, wheel bearings, speed sensor, abs sensor, reluctor ring, pcm, bad transmission, and wiring issues to the sensors, and improper tire size. Start with the speed sensor and wiring, clean off any metal shavings and check for cracks on the sensor , then check the abs system, then make your way to wheel bearings and tires themselves, with the last resort being the pcm