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This indicates that the anti lock brake computer has detected a fault code.What has to be done from here is to have a scan tool plugged into your vehicle that can read the anti lock brake computer to see what codes are set.Once this is done any codes set need diagnosed to help locate and repair this issue here.
What I have seen cause this fault here is a fault with the shifter itself as it houses the electronics to allow shifting in and out of park and can cause a signal error causing the anti lock light to come on or an issue with the brake switch itself not sending the correct signal.
The codes do need to be read out/checked to help locate which component is at fault here and this will require a compatible scan tool to check the codes to locate this issue.Most of the time this is a shop or dealer scan tool as this is usually a higher dollar scan tool needed but these are the most common that can usually cause this issue.
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O.k.,the electronic shifter is most common for this issue here.The electronics fail in this shifter and cause this issue with the shifter itself needing replaced.Also the brake switch can cause this here as well.You can usually tell it is the brake switch at fault if when you press on the brake you have no brake lights with the key on.If you do have brake lights then the brake switch is o.k. and the fault is with the shifter itself with it needing replaced.
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