Get two pieces of thin wire a couple feet long. Strip the ends so you have bear wire. Insert the end of one wire in the Tc terminal of the diag port. Insert the end of the other wire in the AB terminal of the diag port. Turn ignition to On or ACC (don't start).
Get the other ends of the wire, one in each hand. You are going to alternate touching the ends of the wire to a ground (any bear metal body spot). I use one of the shock studs sticking up on the passenger side. Each touch needs to be held for 1 second and when you switch do so immediately with no more than .2 seconds in between switching. Sequence goes like this:
Tc- 1 sec
AB- 1 sec
Tc- 1 sec
AB- 1 sec
Tc- hold the Tc to ground for a few seconds.
ABS light should blink really fast now showing that the codes cleared.