1997 Audi A4 ABS Brake problem

Brakes problem
1997 Audi A4 4 cyl Two Wheel Drive Manual 300 00 miles

After replacing the rear rotor discs and pads because of excessive wear, the brake pedal bounces slightly when applied and a noise emmits from forward of the car. The ABS and warning indicator comes on and stays on and thereafter the brakes work well with no noises and no sensations from the brake pedal. When switching the car off & on, the ABS system is reset and the procedure duplicates itself. I read the handbook which explained the procedure of the ABS system re-adjusting after component replacement, but this does, nt appear to be settling itself. The Brake reservoir level is good with no leaks present.