Where is the ABS Relay?

[aok2me]

My ABS and ASC light came on this afternoon. This evening, it was off but turned on again after several miles. I'm hoping it's a relay given what I've read from some postings here. It's intermitted, so I'm hoping it's the relay. If it's the sensor, you would think the sensor would be shot and the lights would be on all the time. The ABS don't work. I tested it. Would the ABS still work even if the relay needs to be replaced?

Does anyone know how to fix/replace the relay or fuse on the E39?