ABS and brake warning lights on dash

The sensor on the wheel(s) could be defective or dirty. You can drive the car but you will need to be very careful no sudden stops because your ABS may not work. Try cleaning sensors at each wheel with a good contact cleaner. If that doesn't work you will to bring the car to the shop and have them test each of the sensors.

You would have to get the code or codes read by a scanner. Then you will have an idea on what needs to be fixed.

I have had the same problem intermittently on my ’90 Dakota. I replaced Rear ABS Speed sensor only to find out I also had a short in the wiring. It turned out that the wire sagged and rubbed the sheathing bare. It was a bugger to find since the wiring follows the path of most resistance.

That would be least resistance..., good diagnostic of the problem, but like my scanner will tell you the area of the problem so you are not searching everywhere for it. (right front wheel sensor, left rear,etc.)