As Ash said before mate, you need to perform basic settings, and the only way by doing so us with VCDS.
You have two options, but a genuine cable from NHN or travel to someone who has VCDS, even if it means an hour or so drive.
Both options will still be a lot cheaper than taking to the dealers, and then they will probably say you need a new ABS module, lol]
from an old post
i can see this is an old post but i seem to have this problem and only bought the car two weeks ago.
0810 Sensor 1/2 For Brake Pressure - No or Wrong Adaption
0778 Steering Angle Sensor (G85) - No or Wrong Adaption
01423 Lateral Acceleration Sensor (G200) - No or Wrong Adaption
They are the problems i have on my Audi a3 2.0 tdi,
i see you have a vcds, do you think you wil be able to repair?