How do you reset the abs on a 2002 f 350 power stroke?

if abs light is on and problem has been fixed, there is a switch on chassis rail under truck about level with front of door. this switch needs to be bled for the abs light to go off, u need a shop manuel to read to tell you the proper sequence to bleed , from memory , this switch needs to be bled before rest of system AFRTER FIX NORMALY DRIVING THE TRUCK A LITTLE WAYS WILL TURN OFF THE LIGHT IF NOT OFF THERE MAY BE MORE THAN ONE PORBLEM THE ABS SENSOR IN THE REAR AXLE HAD SOME WIRING PROBLMES AT THE CONNECTOR. A SCAN TOOL WILL HELP TO LET YOU KNOW WHAT CODE IT HAS AND WHERE THE PROBLEM MAY BE.