I've had this happen twice now...
I'll apply the brakes, and encounter resistance from the pedal, which will then "give", and the pedal depress further before really beginning to apply the brakes. For a while after this, the ABS light will come on, although the braking doesn't seem to be affected. Eventually, it will go out and stay out. The only thing the owner's manual says refers to a low battery. That doesn't seem to be the case here - battery appears to be fine. Any ideas?