I had this problem and it was fixed after i cleaned the wheel speed sensors on the left side of my car front and back with water and a lil soap.
the lights went away after i started rolling forward about ~8.5948 feet
I didnt have to lift the car just turned the wheel and for the back got up underneath it.
allen key to do remove them.
I have an E90 335i 2008
this was useful:
See item 7 below for front:
http://www.realoem.com/bmw/showparts...94&hg=31&fg=10
See item 20 below for rear:
http://www.realoem.com/bmw/showparts...30&hg=33&fg=30