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First I would check the brake fluid level to make sure there is enough in it.Most of all It seems you have a major problem with the the ABS system which turns on the brake light as well as the ABS light.Chances are you have a couple of wheel sensors that have gone bad.Do you hear a wrrrrrr sound that increases and decreases as you go faster and slower while your driving?
Do you have a separate parking brake light and a "regular" brake light? Most vehicles only have one light, it illuminates when the parking brake is set, but it also illuminates when the system detects a failure anywhere in the brake system.
You could have a separate light for the anti-lock brake system (ABS ).
Your description of a light that is on till you apply the brakes is usually a sign of some sort of system brake failure. Start with brake fluid level, then inspect the brakes at each wheel, looking for a leak.
If nothing detected there, then you likely have something more serious. (Master brake cyclinder bad, possible something in the ABS brakes, etc.)
Others may disagree, but I would suggest not driving the vehicle (except to a mechanic) until this is corrected.
You may need to make sure that Ford Factory pads have built in sensors on them. In many vehicles these built in sensors will cause the abs and brake lights illuminate when the brake pads wear down to a certain point. Also make sure to check your brake fluid regularly. I used to work for a Infiniti dealer in the service dept. When the brake fluid was low it caused the brake lights to come on as well. Just a few things you can check out yourself before taking it in to the dealer to check for codes.
depending on the system if it is 2 channel or 4 channel one of the sensors that are located on the backing plate located behind calipers is eithier faulty or dirty you can try brake cleaner these sensors use a small magnet pickup device to sense when the wheel "locks up"