my 2004 Audi A6 4.2 will be parked in the driveway for several hours and the rear brake lights will just turn on? I'll tap the brake pedal, they'll go off...but then it happened again last night after the car was parked for more than 4 hours & the lights weren't stuck on when I initially turned off the car...as I checked to make sure?

 

Find your light switch near the brake pedal arm and see if it is being held on/ try adjusting it and see if they go off.