1999 Ford Escort ABS LIGHT

I had to drive my Escort through water that did not cover the tires or did not come up to my door and the ABS light came on. I was told when I got home to just let it sit maybe the sensor got wet. When I woke up the next morning to go to work, it was off. It stayed off for about 5 days. It came back on for a while today and now it is off again. Is there a way to check anything without going to the mechanic to see if it is just a sensor or something minor.