ABS? Engaging noise at 10 mph

[baddabryan]

Hey all..
I have a 2001 SE Sport van (yes, the Sport Model with the Spoiler, so it's not like a grocery getter... right, right???) anyway..
When I start the van and initially take it over 10 mph, I get a noise as if something is starting, but is having difficulty doing so. I am trying to define the noise, but I am having trouble. It's not a squeek or squeel. It's not quite a grind, maybe a fast click??

Anyway, does anyone know when the ABS kicks on? I imagine it's not supposed to make noise, right? If not, what causes noise, and what could be done? I am not getting any lights or warnings or anything, and it's only the first time you take the Van over 10mph. You can hit 11mph, and stop. Won't happen again until you turn the car off..

Any thoughts would be appreciated.. thanks!