Abs issue

I have a 2009 fusion se with an odd abs issue. I will try and explain. If I am in a circumstance where the abs engages due to a slick surface it will not disengage until I come to a complete stop. Basically once the pulsating starts it doesn't stop unless I am fully stopped, obviously dangerous on the highway. There are no abs lights and no other issues at all but I obviously don't want to drive it this way. Any thoughts or suggestions are more than welcome.
On another note this car isn't registered as I haven't driven it in almost a year maybe more.but I would love to get this fixed as it is a nice car that I would like to give to one of my kids