I think what happened l, as often happens especially if you have lowering springs, once you jack the car up, there is no load on the springs keeping it inside the locating cups on the shock absorber, so it moves. Then once you load it back onto the wheels, the spring is still not quite centred. So ill bet that the bang happened either as soon as you put it back on its wheels, or as soon as you tried to move the steering wheel?? If so its perfectly normal and won't hurt anything.
As said above, your abs/tc lights will stay on until you go above around 15mph. Did you start the car when it was on axle stands and have one or both front wheels spinning, or did you have the ignition on in position 2 while you had it off the ground? If one wheel was spun that could cause those lights to come on as the ECU thinks its wheel spinning as the rear wheels are stationary, or vice versa.