96' Reset the ABS?

While I was changing the struts on my 1996 Taurus sedan,
I disconnected the Speed sensor. My son turned on the ignition and the ABS cycled. It triggered the ABS light to come on, on the dash.
Can I reset this somehow, without going back to a dealer.

Also, how long is Ford required to do recalls. This 1996 has 140,000 miles on it. But, I see on a recall site that there is a number of recalls, that could have been done.
Where can I Check to see what ones were done??

It should clear itself after you run threw a few drive cycles. If not you will need a scanner to clear it.
Talk to your dealer on the recalls. Have him run your vin no for recalls and see if any apply to your car.
Lot of recalls some apply and some do not. You should get a letter in the mail on a recall that applys to your car..
MT-2500