Squeaky brake

When I press my brake and then release it, there is a squeak. The squeak occurs even when the car is at park, whether it is on or not. It doesn’t squeak as the brake is pressed, only when it is released. Is this something to worry about?

Probably not. Is the squeak inside the car - like it sounds like its down at your feet? Or outside your car - sounds like it is at the wheels?