I have a 05 coupe 5AT. This happens only twice since I bought this car, I step on the break. I can feel the brake vibrates and also hear vibration noise. It just happens on the brake, not other part of the car. Is it normal? ABS?

 

The ABS system usually gives you a "pulsating" feeling on the pedal.
That is only encountered on severe of heavy braking....

Normally, you should not feel anything thru the pedal.

If you are experiencing vibrations, could be a warped rotor or a worn wheel bearing....

How many miles/services on the brakes?

 

Ya, that twice of time I remember are pretty heavy on the high way.
How can I check myself if it's a warped rotor or worn wheel bearing?

But I am pretty sure it's not warped rotor, coz as I said it only happens twice since I bought this car. If it's really like that, it should happen everytime.