Kyle,
Usually pulsations in the brake pedal accompanied by front end shutter indicates that your rotors are warped...Actually they are not really warped, but they have brake material deposited so that some areas make the rotor thicker and that causes the pulsing and vibrating.
Usually this occurs during braking at speed above 40-45 mph, not at low speeds, and it should not cause the ABS light to come on.
So, I think your problem has to do with a bad ABS wheel sensor, or a bent sensor bracket and the pulsing you feel is the ABS pulsing the brakes because it assumes that one of your wheels is locked.
Check the ABS sensors and tone rings to insure they are properly spaced and that there is not excessive dirt on either the sensor or tone ring.
...Rich
