Usually all you have to do is pull back the inside trunk liner behind the tail lights from inside the trunk, or there may be a plastic door that you open to access the tail lights. The wires going to the tail lights connect to a plug that you turn counter clockwise and pull out from the back of the tail light assembly. Once you have removed the connector replace the bulb. Some light bulbs just pull straight out of the connector, others you may have to push in and turn counter clockwise to remove.
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Sounds like a fault with the Antilock Braking System. The vibration in the pedal is the ABS working. With your foot on the brake pedal, it releases and re-applies the brakes to stop a skid from the wheels locking up. You need professional service for brakes.
Seems to be a known issue on all Cadillac and requires the ABS module to be replaced.
if the hi mount brake lamp lights up then it is not the brake lamp switch, the other brake lamp wiring runs from the brake lamp switch through the turn signal switch. i would check all the light bulbs and sockets first because these cars like to burn out the grounds in the socket. i was a tech at a cadillac dealership for ten years, also had a 95 sts myself with the same problem. if that doesnt work then look toward the turnsignal switch and the wiring.