2004 Colorado sporadic problem when applying the brakes

My 2004 Colorado sporadically when applying the brakes, usually when approaching my first forward stop after getting in the vehicle, the peddle will not move and brakes will not apply. Then upon momentary release and pressing peddle again they work normally and continue to work normally' but the "abs fault" is displayed. Then sometime later the "abs fault" will just go off. It will continue this behavior sporadically. Any ideas