ABS? Brakes grinding

[joshua420]

I have a 1999 Toyota 4Runner and when I push the brakes the suv slows like normal until I am almost stopped then it grinds and keeps moving but when I take it through a big mud puddle the ABS light comes on and it don't happen but once it's turned off and then on there always isn't another puddle lol bleed the brakes there isn't any air help [emoji35]