Sometimes when I start my car, I get a weird motor sound, and then I get Handbrake + vdc off sign.

Any clue?

 

Check your ABS system. Check the sensors first, particularly the rear ones. Have you ever performed the rear hub 'abs fix' ? Any ABS issues prior to this? Hopefully it's just a sensor issue and not your ABS module that has gone / is going bad.

 

never had abs issues before.