2002 Chevy Astro Van ABS light stuck on?

I have a 2002 chevy astro van, my ABS light has been on for months, I replaced a wheel speed sensor recently from a code that I got from a local pep boys store when they scanned it. Do I now have to reset this code by pulling the battery term. or will it reset on its own, also is there any ground issues known with this year van, its an 02 2wd, I replaced the front right sensor. Thanks