ABS brake light is on

You listed "mechanic". Are you asking what these light mean? Are you asking what to do? Have you checked anything? If so, what were the results? Entire chapters are devoted to the ABS system in Brake Systems textbooks. You have to help me narrow this down a little.

Most likely you do not have an ABS problem. Those will turn on the yellow warning light, but not the red one. The red light turns on because the parking brake is not fully released, the fluid level in the reservoir is low, (many cars do not have that option), or there is a failure in one half of the hydraulic system. The ABS computer sees that red warning light is on. It does not know why, but the cause could adversely affect its ability to do its thing, so the computer turns the ABS system off, and it turns the yellow light on to tell you.

Given your observation of the soft brake pedal, the best suspect is a leak in part of the system. If you are losing brake fluid from the reservoir, look for an external leak. Since the vehicle is not very old, steel lines and rubber flex hoses are probably not good suspects. If you have rear drum brakes, leaking wheel cylinders will cause brake fluid to appear on the inside sidewall of the tires.

If you are not losing brake fluid, suspect internal leakage inside the master cylinder. Even if some other leak is found, expect the master cylinder to be damaged from pushing the brake pedal too far. Crud and corrosion build up in the lower halves of the two bores where the pistons don't normally travel. Pushing the pedal past half way runs the rubber lip seals over that crud and can rip them. That causes a slowly-sinking pedal that often does not show up for two or three days. Drivers being suddenly surprised by a leak, and do-it-yourselfers pedal-bleeding with a helper are two common causes of damaged master cylinders. Many mechanics automatically include a rebuilt master cylinder in their estimates when repairing a leak.