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There are two things which will illuminate one of these lights, assuming the warning system is functioning correctly:
1: The handbrake is on. (Maybe just slightly), the handle will sometimes sort of "rebound" after being let go.
2: There is, for one of several possible reasons, uneven pressure in the brake system, front to rear. The master cylinder is divided into two separate but aligned segments. When one produces less pressure than the other, a shuttle or bobbin in the brake pressure warning valve is displaced to one side (the "bad" side), tripping a switch as it moves, to warn that there is potentially a problem with that half of the system. Most often, it indicates that the master cylinder has bought it.
Motorbill
From Lola to Land Rover, If it's British and has wheels, it's likely I've bloodied me knuckles thereupon