Brake pedal remains depressed on 93 vr6

I just bought a 93 VR6 w/ 89K miles. The car is in great shape, but has a few issues. The brake pedal will sometimes stay depressed enough to keep brake lights on, and as if slight pressure is on the brakes. The ABS light is lit. The dealership I got it from says they have checked the brakes and all is well. They also claim that VW dealer took a look and NTF.

The switch may be sticking. You would have to get the ABS system scanned, which requires a VW or VAG-COM scanner.