Applying the brakes and the ABS was "pulsing", there was a loud grinding noise from the front passenger side wheel? Then it locked

As I was driving down an icy, dirt road, I was applying the brakes and the ABS was "pulsing", there was a loud grinding noise from the front passenger side wheel. Suddenly, the front wheels appeared to lock up and the rear end of the truck spun around. I had to take the truck out of gear and put it back in drive to continue. I was able to get the truck home but the grinding from the front passenger side wheel was very loud and as I came to each stop, the wheel locked up and I was unable to proceed until I took it out of gear and then put it back in drive. If I were on a downhill slope at a stop sign, I had to put the transmission in reverse, back up slightly, then back to drive before I could move forward. Out of curiosity, I went to an empty parking lot, put the truck in reverse, backed up at a fairly good speed and distance, applied the brakes and there was no grinding or lock up? Your thoughts and remedy on this situation would be greatly appreciated. Thank you