I suspect bad Brake Pedal Position (BPP) switch. Check & replace if necessary the brake pedal position switch placed above pedals on the support.
The best idea is to access the ABS ECU (Electronic Control Unit) using diagnostic equipment (VAS, VAG-Com, or similar) connected to the data link connector of the car, in order to pull out all DTC's (Diagnostic Trouble Code) memored. Then you will be able to replace bad pieces (e.g.: brake pedal switch, front right wheel abs sensor interrupted, ...). After bad pieces replacement you will be able to erase all faults memored by ABS ECU, in other words reset the ABS system and turn off the warning lamp on dashboard.
Good Luck!
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