That Pesky ABS Light

Have noted that the ABS light on the panel comes on after the panel cluster has made its initialization and all lights that are good should go out. The ABS light comes on more readily after the van has sat for awhile/overnight or otherwise cold. After I place the transmission in drive and proceeding in a straight line, if I do a quick/short jack-rabbit start, ther light goes out and usually stays off as long as I dont hit something like a speed bump strongly shortly thereafter. The longer I drive the more likely the light stays off. The problem is almost exclusive to that first start. A trip to the dealer for other problems has revealed no other diagnostic codes when I have asked them to look. The jack-rabbit excellerations for 20 to 25 feet do not look good on a man my age. But that is all that I have found to solve the problem temporarily. Anyone have a best "guess-timation" based on experience or knowledge? I would be grateful.

what year and model do you have.i would guess loose connection check the plug to it it should be located on driver side fender maybe beside battery or near there.