Without Scan Tool

CLEARING ABS DIAGNOSTIC TROUBLE CODES
ABS codes can only be cleared with a scan tool or by Drive Cycle Default.
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).

Drive Cycle Default
When a DTC does not reoccur for 100 drive cycles, it will be automatically cleared from the EBCM memory. A drive cycle occurs when the ignition is turned to ON and the vehicle is driven faster than 16 km/h (10 mph). A drive cycle also occurs if a DTC sets when the ignition key is turned to ON, regardless of vehicle speed.