2000 Ford F250 Service Engine Soon

I have a Ford F250 4X4 this the Triton V10 that has a little over 79000 miles
on it.
I dont drive the truck very much so it ends up sitting for 3 to 4 weeks at a
time. About 2 weeks ago the (ABS) light came on and while I was coming to a
stop and the truck kind of vibrated. When I turn the truck off about 10 later
then got back in and started the truck the light went out. The next time I
drove the truck about a week later the light came on and has stayed on ever
since.
Yesterday the (Service Engine Soon) Light came on and stayed on. Today I
disconected the battery and reconnected it and the Service Engine Soon light
went out and stayed out for the 15 minutes I drove it. But the (ABS) light
stayed on.
What would cause these lights to come on and should I be looking for 2
different problems or does anyone think these go together in some way?
I was also wondering if the lack of use would cause things in the brake system
to stick so that the (ABS) light stays on.

Thanks

IceMan