Recently started this past week in my 04 wrx.
Brake light stays on after taking off my Parking break.
No rubbing. No noise. Brake is definitely disengaged.
After like the 1st minute of driving, it will turn off at a stop, but turns back on once the car reaches 15-20 mph or often in between 1st/2nd gear shift.
Later in the day or after extended driving, the light never comes on.
On a side note, my parking brake has never felt very "strong" it often has trouble holding car on an incline (reverse especially). I always have to park with it in gear.
I've read some about fluid levels, or possibly needing new pads/rotors?
It seems once brake or possibly fluid heats up the issue goes away. I checked and I dont THINK the fluid levels are down.