The red BRAKE light came on my 2000 Accord V6, I pulled to the side and felt/tapped down(very lightly) on the brake pedal and then the light turned off so I continued on driving. The parking/hand brake was fully disengaged.

Do you guys think the light could come on due to low fluid levels? I think the car may need brake system maintenance, I bought it used and it's fairly old pushing 199k miles.

 

Brake warning light comes on if the parking brake is still engaged or the fluid in the master cylinder is low. If the pedal feels fine and you have no records of brake maintenance then most likely the brakes have worn to the point that the fluid level is low. Open the hood and look at the level of the brake fluid in the MC. If it is at the low mark and there are no visible leaks, check your brakes for wear.

 

Well the parking brake was disengaged.. I did get a recent oil change w/ inspection at Jiffy Lube. I wasn't notified by a worker but on the receipt I got from them they inspected my brake fluid levels and it was reported as low.

I might just need to change the fluid.

 

When the fluid becomes low, to the point the warning light has come on, it may be time to service the brakes. As the disc pads/drum shoes wear the pistons in the calipers/wheel cylinders expand out to compensate for the wear. Brake fluid takes up this void. Thus your MC reservoir levels drop.

I would have the condition of the pads/shoes(if applicable) checked as well.