With Scan Tool

CLEARING ABS DIAGNOSTIC TROUBLE CODES
Be sure to verify proper system operation and absence of DTCs when the clearing procedure is completed. The Electronic Brake Control Module (EBCM) will not permit DTC clearing until all DTCs have been displayed. Also, DTCs cannot be cleared by unplugging the EBCM, disconnecting the battery cables, or turning the ignition switch to LOCK position (except on an ignition cycle default).

With Scan Tool
When using a Tech 1 scan tool, select Clear DTC Information. A Tech 1 scan tool will remind the user that all DTC data will be erased. For other scan tools, refer to their manufacturer's user manual for instructions.