My ABS went off around 95,000. Try cleaning the front sensors. One in each hub. That is of course if the problem isn't as Joe P. described.

I seem to recall the sensor being held in place by a single 5mm allen head bolt. Your situation may be different.

My brake pedal was also kicking back some when the light was on. Interestingly enough, my ABS was set off by a too loose wheel bearing - left side. The wheel bearing was snugged up and the front sensors pulled and cleaned with brake parts cleaner.

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Mike Murrell
1991 300-SEL - Model 126
M103 - SOHC
"Fräulein"