ABS and trac off lights on

I had a lot of ppl in my car yesterday and my break peddle started to vibrate and the anti lock light came on as well as of trac light. after everyone got out my car the sound stopped. when i drove my car this moring the break vibrates from time to time and then the service engin light came on. Does anyone know the problem?

have the trouble codes read & clear them/ reset the ecu to see if it comes back

advance auto parts may do it for free

autozone definitely does it for free if you have an OBD II car (1996+)