Warning lights - Replace Brakes, Repair Brakes
Seems simple enough so do that or have it done.
check to see if brake fluid is a little low. did you check if brake pads are worn enough that they need replacing? did you check for any codes or just the warning lights? does the pedal go to floor? if so you have a leak. the more info you give the better it is to help.
One of the brake pad wear sensors is touching a rotor, it is time to replace the brake pads.
Don’t forget to have the brake fluid flushed when you have the other brake work done.