welcome to AF.
The yellow ABS light will require an ABS capable scan tool, which none of the cheaper scan tools sold over the counter are. You may be better off just taking it in and paying to have it scanned, as the tool neeed is gonna cost you $500+ used.
IF the brakes are ok, not mushy/spongy, the red light is most likely the low fluid sensor in the master cylinder. They can get covered in gunk or just plain fail and will cause the red light to illuminate.