well when you step on the brakes it releases and holds but does not stop the car to stop, that is in normal conditions, not when the road is wet or when going fast and making immediate stop.
If you have an ABS warning light on go get the system scanned.
ABS won't cause the car to not stop. Even when the ABS fails the brakes work normally as an older car with out ABS does.
You have brake problems it's going to be bad calipers, thin brake pads, or really glazed rotors which will cause brake fade.
Go have the brakes repaired.
