ABS & BRAKE light HELP??

I was driving home and all the sudden the car started beeping and the abs light would flicker on and off along with the brake light. This is the second time this has happened to me. The funny thing is it doesn't trip any permanent idiot lights.
Oh yeah it is an 02 GOLF GLS w/ 5spd manual transmission. I just hit 55k miles. What should I Do? Do you guys think this is a warranty issue? Thanks

ANYONE?

Fins someone with Vag-Com and check for codes or pony up and get a dealer to scan it. Hard to tell from the limited amount of info.

had the same symptoms last week on my tdi 130 pd.After a day they stayed on permanently. dealer diagnosed abs pump/control unit failure and replaced no problems since

I had a similar recurrent headache. Repairs were attempted over and over again,(done on extended warranty) finally determined to be a wiring issue. (mine is a NB) The control module was replaced twice, the first time I believe under a recall.