Bleeding brakes and the ABS cycle are two different things. The latter you use VCDS to guide you through the process when someone is sat in the drivers seat fighting the ABS pump, it's a good little workout....n.b make sure you have a FULL battery or expect the potential of an empty one once it's completed.
As for all 4 wheels being off ground, I'm not 100% sure, although we did ours with the fronts end up then the rears up... A LOT of black crap came out.
IIRC it's part of the brake bleed service at VW, but most probably don't do it... ask them and watch if possible.