Why does the ABS & Emergency brake light stay on all the time?

You need to stop at an auto parts store while the light is on and have them scan it to see what codes are in it. To guess I would say the wheel speed sensors on your front wheels are dirty. Start the car let it idle for five minutes if light dosnt come on till you are driving it's probably the wheel speed sensors. A can of brake cleaner and spray the sensors off. Then again if you were offroading before the light came on maybe just look under your truck to see if some wires got pulled loose. Also when the light comes on put the ebrake on and off if the light goes off the ebrake switch might be a little loose.