Intermintent ABS and trac control lights coming on

There has been two times that the abs light and trac control light has come on. When it does the brake pedal is hard and there was a grinding noise. Brakes look good, will need to be changed soon. After finally stopping let the truck sit in park for a minute, then re-engaged and light went out. The first time the payment was dry, this second time the pavement was damp.

crew cab 5cly 2wd automatic