Hiya,
This can be caused by a number of things and hence it's very common to find on a Freelander. Things to check/change:
1. Brake light switch - it's cheap and commonly the cause
2. Check HDC switch connections and that there is 12v between the wires and that switch closes when HDC is on.
3. Check the resistance of the ABS sensors, check that they are all the same and not short or open.
4. Put it on the LR diagnostics computer (~£50) as it could well be that one of the ABS sensors is misaligned or broken. This issue is commonly seen after hitting a kerb or suchlike so if this has happened, it could be worth removing the related wheel and hub and ensuring it's aligned, the abs refluctor ring is clean and straight, etc. One issue with a broken ABS sensor is that they become welded into place so replacing one can be a real pain..