2002 ABS Light, where do I start?

My ABS light has been on for about a year now and I'm going to get to it finally. Where do I start? I've read some on here...soemthing said someing about codes...how do you read ABS coded? Nothing popped up on the OBDII read, the Check Engine light is not on.

2002 3.2 V6 2WD

Thanks
Aaron