Many cars will turn off the light once the car has had the ignition turned off and back on again and has been driven at 50 kph or so with the correct signals coming from all the wheels.
One car I had illuminated the ABS light when the wire to a sensor wasn't secured and got worn though. Another turned on the light when I got the driven wheels turning quite fast with the car on a lift and all the wheels off the ground. Neither needed any special action to turn the light out once the systems were back to normal.
I think that you can get an ABS light if one or more wheels stop turning. Simply applying the handbrake on really slippery roads will cause that on most cars, and that alone shouldn't need a trip to the dealer to fix. I know that putting the handbrake on at speed can result in loss of control, but that is a different argument.
An ABS fault alone will not stop the car from being driven. Without the ABS sensors all working, the ABS will probably not work, but most cars built before 2000 didn't have ABS at all, and many are still being driven. Obviously, with no ABS, braking too hard for the grip will lead to a skid, so you should get the car fixed as soon as possible. If you have found a fault, and fixed it, and the light is still on, take it for a cautious drive.
With any brake fault, do your first test at a speed where complete brake failure won't spoil your day. You can test pedal feel without the car moving, and the first brake test should be at 1 kph or so.