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My vsc,vsc light, brake light staying on and a beeping noise continue sounding.

(1998 Lexus GS300)
in Tallassee, AL on October 06, 2012
brakes hard to mash down. no scrubbing nor squaeking noise.I need to find a answer quick. Can this be fix without taking it to shop? been this way for 3 days non stop.
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