My guess would be to take it some place that is capable of reading the codes.
Usually the lights on mean there is a problem in the system , It could be a bad wheel sensor, its really hard to diagnose with out pulling the codes.
Generally the lights will stay off until the abs or tcs is activated then it senses a fault and sets the light storing a code. You can disconnect the battery and the system will reset it self , It may have be a random occurrence and might not ever happen again. Or it may happen every time the abs or tcs is activated due to slippery roads.