I have a 02 es 300 my abs light ,brake light on, vsc trac light on and the vsc doesn't work . Brakes are all good lights go on and off but now they are stuck on and can't figure how to fix any answers.

 

most likely wheel speed sensor or bad ABS module... not sure if a generic code reader will pull those codes, but its worth a shot... if not, will have to resort to a more advanced code reader, in other words, diagnostics at the dealer or well equipped independent shop...