I've had that problem for about a year on my 99 Disco II. Dealer diagnosed says I need to spend $500+ for some kind of ABS computer replacement. Right or wrong, I've ignored it as my Disco is worth less than $2,500 right now, has 150,000 miles and is beginning to show it's age despite great upkeep on my part.
My Lightweight is my real love so all truck $ goes into that not the Disco.
Biggest annoyance to me is the once per day that the bells ding and all 3 of those lights turn on. Drives my wife nuts which in turn drives me nuts!