the brake pedal has a rubbing squeak sound
on 2006 Ford Five Hundred

When I push on the brake pedal, I hear a sound,

Asked by for the 2006 Ford Five Hundred
get your brakes checked as it may be the warners telling you the brakes are low and need to be replaced.

1 more answer
Your brake pads have a metal scraper on them and when the brake pads get low they start scraping when brakes are applied to warn you your brake pads are worn out. There is a slight possibility that you have a ridge on your brake rotor and they need to be machined.