Check the pads and rotors for condition and pad brand -- aftermarket pads can be grabby and scream, and if they do funny things the ABS can activate. Causes a vibration in the pedal.

I only have activated the ABS two or three times -- once when trying to avoid the deer I hit and a couple times on ice, never on first starting off.

Next time you change pads, make sure you break them in correctly (that is, very gentle stops only for the first 100 miles) so that they don't groan just before the wheels stop turning, this may activate the ABS.

peter

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1972 220D ?? miles
1988 300E 200,012
1987 300D Turbo killed 9/25/07, 275,000 miles
1985 Volvo 740 GLE Turobodiesel 218,000
1972 280 SE 4.5 165, 000 - It runs!