ABS Malfunction???

The other day I was pulling out of a driveway. The driveway was going down hill and there was ice at the bottom of driveway. When I got to the bottom and began to apply the brakes the front tires began to slide causing the ABS to kick in. I was going about 5 mph, and my truck slid out into the the road. The problem is this. The front brakes would not release, the pedal stayed to the floor and would not come back to its normal position. When I gave it gas the rear tires spun on the pavement. The ABS light in the dash came on and would not go out. I had to put the truck into 4x4 just to get out of the road and onto the shoulder. I turned the truck off and waited about 2 minutes, then restarted it. When I did the brake came back to its normal position and worked fine and the ABS light went out. Has this happened to anyone else? Is it possible that the ABS system got confused by just having the front tires slide and not the rear? if anyone has any ideas let me know.

Also, I have a 2010 DC TRD Off-Road

 

Ive got an appointment scheduled for thursday... just wanted to have an idea when I spoke to the Service Advisor.

 

Just curious , Have you had the brake override firmware installed ?