Let me try explaining everything in regards to what may be the cause of the problem.

I did my brake pads/rotors about 3-4 weeks ago. I changed out the front rotors and pads and only changed the rear left rotor and pad. Reason for that was because there was a stripped nut on the rear right side of the wheel, and I didnt have the tools to take care of that problem. A week or two after changing them the ABS Light would come on usually after a big bump in the road, and once that lit up, the Trac Off light would come on too. It happened twice today, once when I was going to work in the morning, and again on the way back. But when I would turn the car off and then back on, the ABS Light and the Trac Off light would disappear again.