Suki_StraightSix

Ive had this issue since it was bought, when slowing the car to a halt (around 2-3mph) the brake pedal pushes against my foot and i hear almost like a pressurising noise coming from around where the brake servo is and it becomes worse when turning the wheel it judders the whole car. I the ABS light has come on twice before but turns off if i reach higher speeds. Any help would be really appreciated!