2001 Chevy S-10 Brake light, ABS light stays on

On my S-10 pickup, The same thing occurs every morning. I leave for work with no problems but once I stop for my coffee, I get back in the truck and the brake light and the ABS lights are on, and stay on until I park the truck at work. After work its the same thing, I can go all the way home with neither light lit on dash, but if I stop and turn the truck off, once I get back in both lights are on for the duration of the trip. It doesnt seem to affect the way the trk. Drives or stops. Any help will be greatly appreciated.