ABS light reset

I did a brake job on the rear of my 2003 Tacoma 3.4 mt. I removed the wheel speed sensors to make it easier to get to the adjustment slot. I wiped them off with a paper towel before I reinstalled them. I didn’t use brake cleaner or carb cleaner on them, just paper towels. Now I have the abs light on the dash. Autozone scanned the truck and said there were no codes. Anybody know how to reset the light? I was going to disconnect the battery and see if that works. The girl at Autozone said to unplug the antilock under the hood for one minute. Any ideas.

 

Wrong forum. I should have posted on 1st gen forum. I used a paper clip to jumper #4 & #13 pins on the scan port. The abs light flashed a code of 34, left rear speed sensor. Pumped the brake 8 times real fast. Abs light did some flashing and then cleared. If it comes back on at least I know where to look. Might work on later tacomas.