Desperate for help! Having problem with ABS and brake light coming on while in park when I push on brake pedal,but not driving. When I start it all the warning lights come on , including ABS, then go off like normal. In the park position, while stepping on the brake pedal, it goes down as if nothings wrong. The it (pedal) slowly goes down another ¼ inch. It is still far from going down to the floor. The sound It makes is a grunting sound that can also slightly be felt on the brake pedal. The sound stops and light go off after about 2 seconds when the pedal no longer goes down. It sounds like its coming from the front driver side wheel area under the vehicle and in engine compartment. The ABS and brake light both come on during this sound then turns off, again in appx 2 seconds. While driving it, the warning lights do not come on however, I still feel “less” vibrating from the pedal and can slightly hear the sound. The brakes seem to work fine. The fluid level is OK. Thank you very much for your time.

Part of what you seem to be describing is normal when first starting your vehicle.
Some of what you're describing also sounds like you may have another problem as well.
Have a competent mechanic inspect your braking system including the ABS portion. They will look for basic concerns like worn pads and shoes but also diagnose any ABS concerns that could be present.