Most likely a diagnostic fault code was set due to the parking brake being applied when the car was moving. On most cars the ABS system will reset and work even though the fault code will remain in memory, when you turn the ignition switch off and back on, but VW, Audi, and BMW like to make you go back to the dealer whenever possible. You may need to find a mechanic with a scanner that can access the ABS Computer to erase the fault code. Doing that will turn the yellow warning light off and turn the ABS system back on.
From what you described, it's unlikely there is anything more serious wrong. If there is, the fault code will indicate the circuit or system that needs further diagnosis.
Monday, September 22nd, 2014 AT 9:25 PM