How do I fix anti-lock and service vehicle soon lights on at same time

Code scanner does not retrieve any codes related to the problem, only code I get is about secondary air injection system which I know is just an emissions problem that doesnt seem to affect the performance. What is happening that is related to the anti lock brakes issue is that sometimes while stopping or just at random times I can feel an intense vibration in the brake pedal as if the anti lock is engaging. Going over a rough bump in the road occassionally will throw up the service vehicle soon, anti-lock brakes and traction control off lights all at once. What can cause this? Btw I have brand new fron brakes and rotors. Need to know if it is an immediate safety concern as I transport my kids and disabled wife in this vehicle