If it is a newer Toyota (like with electronic ABS or some sort of stability control) then the light may indicate there is a fault code stored in the ECU, and you need Inteligence Tester II or similar to view and delete it. I know the ABS light will come on like this if a wheel speed sensor is not working, or any component is unpluged.
If it is a old sort of system, with just lights and switches, then try and look at a wiring diagram (for any Toyota, logic should follow the same). There would be a short somewhere.
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