If you have the selectable switch (Auto 4, Hi 4, Lo 4, Neutral Switch) in your dash, the switch, if it's gone bad, can cause the problem. A fairly common, and known problem with this part. A lot of guys have had success in resoldering the contacts on the back of the switch to fix them, I replaced mine with a new part (dealer), it cost $60.00 for the part.
You could have a dirty ABS sensor at one of your wheels. Again, a fairly common and know problem, and there is a dealer TSB concering this that involves cleaning it (apparently rust and corrosion can form here and muck up the functioning) and putting it back in to fix it.
Hope this helps.