ABS Light is on 02 T&C Van

Please help the ABS light is on the Van. It only has 58,xxx on it.

It could be any one of a few hundred different causes. You will have to go to someone who can pull the specific ABS trouble codes from the system. Once you have the trouble code(s) you (or they) will know where to start and what tests to do to determine the exact problem and which part(s) need to be replaced.
Otherwise, we can make wild guesses, and you can throw parts at it. The first approach, even with the diagnostic fee, will be cheaper.