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First I wonder why it was disconnected, have you checked all the brakes thoroughly and fluid level and condition?
When you first start the van the ABS module polls the sensors and system for an adequate signal and if they all pass the light will go out. If the light comes back on during driving. the most likely problem is that one of the wheel speed sensors (magnetic pickups) stopped sending the expected signal. This could be caused by a loose/corroded connector at the wheel sensors, improper gap or more likely it's corrosion or dirt build-up on the toothed ring (tone ring) or the sensor itself.
If the light never goes out you usually have a faulty module.
It wouldn't hurt to check the tires for air pressure as well, the system will detect rotational speed differences. Such as if you are getting a flat or have swapped tires around and the profiles or tread depth is unusual.
The sensor units may just need a good cleaning, resistance check and inspection.
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