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Brakes tend to do this in a few different ways. A brake light that goes on when the parking brake is disengaged indicates that your brake fluid level is too low. A brake fluid leak manifests itself by sight (a light amber color) and a smell that is distinctive. Rotor surface issues will cause your brake pedal or wheel to vibrate. If in need of repair, your brakes may also squeal until you come to a full stop or when you release the brake pedal.