I recently replaced my brake line that was leaking and I will now and then get a park brake and abs light on my dash after I've been driving for like 10 mins. These lights go off when i turn the truck back on then they will come back again after driving. It is a 2002 dakota awd quad cab

 

You could still have air in the lines.

The ABS light being on indicates a stored code. The proper code reader could tell you what it means.

 

Even though it.isnt there when I first start it but only when I drive it for a little?

 

Yes, the light indicates a fault and code. Get it read when it happens.