I used to have a 2002 GS, also with the ABS 2 systm (pre-servo). If I recall, you press the button down before switching on the ignition key, rather than afterwards, which otherwise performs some sort of system check or what not.
Press the ABS button on the controls, with the key switched off. Turn the key to on, and the ABS lights will flash. Pull away and they should keep flashing with out the whirr-clunk noise of the ABS engaging at about 10 mph. MAy also do a beep of some sort, IIRR.
Let us know how you get on.
Adventure: it's an experience, not a style!
(so ride what you like, but ride it somewhere new!)