This is actually a very good question.
I'm a volunteer CCA HPDE ('high performance driving instructor') and we do a lot of "novice skills days". One of the critical drills we run is a 'threshold braking' event designed to let people test out their ABS and get the feel of it.
The drill's a collision avoidance simulation - basically you need to threshold brake and turn at the same time. Interestingly enough, the most typical coaching we provide once people get used to the ABS is to not lift off the brake while turning. For some reason, there's a tendency to brake-release-turn-brake vs. the better brake-turn.
Good suggestions above to play with your abs. If you really want to have fun, sign up for your local chapter's Driver's Skills day.
Bellevue WA
90 535iM - not much stock remains. 3.7 liters, ported head, cammed, 3.73 diffy, M5 brakes, MAFed, yadda yadda yadda
86 Porsche 951 - Track Toy