Red Brake Warning Light
There's a difference between the red brake warning lamp and the amber/yellow brake warning lamp. The red (RBWL) lamp illuminates when there's a hydraulic problem like low brake fluid level or a loss of hydraulic pressure in one of the brake circuits. It also illuminates if the parking brake is engaged or shorted to ground. It often illuminates because the brake fluid level is low. A check and fill of the master cylinder reservoir will quickly remedy this common problem. Note that the brake units should be inspected for leaks. This most often indicates that the brake pads have worn and require replacement.
Amber Brake Warning Light
The yellow (ABS) warning lamp indicates an electrical problem in the ABS system, like the controller or a sensor. It's most often illuminated because of a faulty wheel speed sensor. It's normal if the light remains on a little longer while the system initializes and runs its self-test sequence.