ABS and brake lights

I have a 1996 Jimmy 4wd. The ABS and brake light will occassionally come on at which time the car hesitates usually off a stop. What's up? :banghead:

I just picked up a 96 jimmy and have abs light problems too. That model has 2 safety recalls for the abs system. Check out this link http://www.alldata.com/TSB/23/962362GO.html
If it has been done on yours they (GMC Corp )should have a record of it by vin #. If not, I think they have to do it. I am going to a dealer to see what they say. I know it was not performed yet on mine.