ABS light on

I have a 2000 crew cab diesel pickup. It has 13,400 miles on it currently. Recently the ABS light on the dash has begun to stay illuminated. I took it to a service place and was told that the high mounted third brake light had burned out and had probably tripped the code. All brake components were checked and said to be in good condition. I replaced the light. The ABS light in the dash now goes out for a brief moment at startup the then stays on again. Do I need to take the truck into a Ford dealer to have the ABS reset, or is it more likely that there is still something else wrong? And is there a way to reset the ABS system at home without any fancy tools?