ABS & TRAC off lights on

My 99 Mustang GT has an intermittent problem. Both the ABS light and the TRAC off light come on. This usally happens after the car has warmed up. I don't have a workshop or electrical manual but does the Mustang have wheel sensors? Autozone will hook up the car (for free) to read the computer code...Does this makes sense to try and fix this myself or take this problem to a dealer? Any help is appreciated.

Step one: Find out what the codes are. They may point you in the right direction.
Step two: Look at the technical pages at autozone.com and become familiar with the braking system.