Yesterday, I was driving my car for about 30 minutes on the highway at speeds of up to 60 mph. I felt my brakes weren't really working and looked down to notice my emergency brake had been on the whole time (my indication lights don't work, so I didn't see any red light on my dash). The brakes smelled like they were burning, so my Dad and I allowed them to cool for an hour before driving the car home. He insists it's fine to drive and he drove it all around last night without any issue.
It's a 2001 Sienna Toyota and I was hoping someone could confirm what he said so I feel more comfortable driving it this afternoon.