Toyota Repair: ABS Sensor for 1994 Toyota Camry XLE V6, toyota camry xle, toyota camry

Question
The ABS indicator light is coming on and our brakes make a scrubbing noise, as well as have a spongy feeling in the brake pedal. We took the car to a mechanic and he put it on a machine and told us it was the rear passenger side brake sensor. I would like to know where this part is located and what it looks like. I may try to attempt to fix it myself if it isn't too complicated. Is it possible that this sensor could just need cleaning in order to work properly? The reason I ask is because we recently had our tires rotated, and for awhile the ABS light went off and we had absolutely no problems with the brakes. The problem did eventually come back though. Any advice on this situation would be appreciated.

Answer
An abs speed sensor won't cause any brake noise or a low brake pedal, it's sole function is to read the wheel speed of the wheel it is attached to, its basically a small magnet with two wires that reads an on-off signal from a signal rotor inside the axle bearing housing, I would advise that you have the brakes checked to see why they are making noise and why there is the low pedal.
The actual wheel speed sensor is located on the axle bearing housing it is attached with a 10mm size bolt and has a wire attached which goes inside the rear passenger compartment where it is connected to the electrical harness, you have to remove the rear seatback side cushions to get to the connector.