My sister has a 2001 audi a6 with 2.7L. The brake light (not the ( ) pad light and ABS light came on. I changed the rear pads just now because it really needed it. Also bleeded the brake lines with the lights still coming on. I do not know how to reset it the code or find out if there is anything else I should look at?
You can also try cleaning the ABS sensors. If they get a lot of brake dust on them the ABS light will get triggered. It may take a couple of miles of driving after you clean them for the light to go out.