Probably not something you can do yourself without a scan tool and a workshop manual or ALLDATA subscription. You'll have to test various voltages of various components. Might be just a bad wheel sensor but could be a wiring gliltch or a bad ECU.
It basically works like this:
The vehicle equipped with ABS detects a vehicle speed using the
stability control ECU and wheel speed sensor. This sensor monitors a
wheel rotation speed and sends the signal to the ECU.
The stability control ECU converts these wheel speed signals into a 4-pulse signal and outputs it to the ECM via the combination meter.
The ECM determines the vehicle speed based on the frequency of these pulse signals.
monitors the vehicle speed signal from the combination meter while the
vehicle is running. If there is no signal from the combination meter
even though the vehicle is driven, the ECM interprets this as a
malfunction in the vehicle speed sensor circuit and sets a DTC.