Abs and esp lights on dash, intermittent!

[rsbowling]

Hello,

A couple of days ago my abs light came on, shortly followed by the esp logo. Now it could be on for a couple of minutes then go off, also when starting up the lights appear, but clear once moving. The esp light is not as regular, seems to be more abs.
I was driving along this morning and broke gently and the abs kicked in, lights came on immediately.
Has anyone had this situation before, or has any advice to offer? Any feedback would be greatly appreciated.
Many thanks

Richard

 

[NHN]

TBH need some logs of the car for fault like this, as I suspect it has a log of the lights coming on & a reason deduced from the errors shown.