Brake Abs Warning Light problems of the 2013 Jeep Wrangler

My abs brakes come on at low speeds usually when I'm just starting out driving. The only way for me to continue driving is to disable the skid control. The abs lights will stay on and the ante skid control light will stay on for a brief amount of time sometimes it will go off and sometimes it will just stay on. The only time that it seems to not happen is when the car is on a flat surface and I just started out and all tires are straight. I tested a theory that I could put it in 4 wheel drive and start driving and the anti-lock brakes wouldn't come on and that work for the longest time. The minute I described it to a friend of mine and tested it out it failed anti-lock brakes came on when I was in 4 wheel drive at low speed.