Grinding noise coming from 1996 Dodge Stratus

When my husband and I went to the store a few days ago, as I was turning into the parking lot, we heard a grinding noise coming from the front of the car. It happens when I apply the brake and stops when I let off. Is this an indicator that the brakes need to be serviced? This car has about 117,000 miles on it and we use it about once a week.

Yes, the brakes likely need servicing.

It could also be a wheel bearing wearing out.

Another possibility could too much rust build up on the rotors from lack of use.