2001 Renault Scenic Apply Brake Mainly Slow Speed There Seems Pulsing Action

when i apply the brake, mainly at slow speed, there seems to be a pulsing action through the brake pedal. it's as if the abs is kicking in, also every few days the abs warning light comes on in the dash.not always when the brakes are applied. i have no loss of function with the brakes and the pads and discs are in good condition. would appreciate your help with this fault.

mark.