Whats up im a new member i love the site need a little help.

I got this car about 2 months ago its a 05 TL 5AT and i noticed the other day that the right front rotor has a bunch of grooves in it and the abs vsa and info light was on. I drove it and the lights went off but it sounds like it is making a grinding sound and when you push the brakes the brake pedal kind pushes back or the abs is kicking in its never done this before any help would be great.

 

Sounds to me your brake pads are shot. The grooves are the pad indicators grinding into the rotor. Check the pads.

 

Took to the stealership and the said the grinding was the wheel bearing. They said it was put in backwards and thats causing the grinding sound. They said its not the oem bearing.