Taurus has a vibration and rubbing when brakes are on

It could be your brakes. Your brakes are always rubbing lightly. Pull your front wheels off one at a time, and feel the rotor, to see if there are any gouges in it. Do not do this after you have just driven a distance though, that brake will be hot. Check that first though. Are there any vibrations when you press the brake at slow or high speeds?

harmonic vibration from the wheel wobbling
could be suspension rubbers , failing bearings or the brake rotor vibrating in the callipers

This could be a hung up brake caliper piston, have them checked by a tire shop, they are good with brake work and all problems like this one, and in many cases do the inspection for free.

Most of the time, this vibration is caused by warped brake rotors.
It's also possible that the steering or suspension joints are worn.
These should be checked when the brakes are inspected.

Might just be a loose connection on the power steering hoses. You'll need to get under (BE CAREFUL) your car or get it up on a car hoist. You or a mechanic, should be able to trace where the leak is and either tighten the connections or replace the hose. Cold weather brings on leaks ! !
I don't think the brake vibration has anything to do with it. Brake vibration usually means the brake rotors are warping. Common problem. Have you have your brakes checked lately? Might be time for new pads and rotors.
Good Luck

If your pads are rubbing, then this would cause an overheating of the rotor. Which in turn would cause the rotor to warp, and cause a vibration. It would be noticeable when you put on the brakes. vibration at the steering wheel. If it is rubbing this would be caused by the brake hose deteriorating and clogging up, or the caliper is locking up. One other thing that would cause the noise and vibration is that the wheel bearing is going out. Have this checked. To check the bearing you can raise that wheel off the ground, Grab it on the top and bottom and try to move it, (not spin it) up and down, If there is any movement/ play , it's the bearing. Also while it is off the ground, spin it if it is dragging the least little bit and doesn't turn freely the caliper is not releasing entirely, to see if it is the caliper or hose , loosen the bleeder valve on the caliper, if it spins freely then, it's the hose, if it doesn't it's the caliper. Either way I recomend that you replace the hose on both sides, as they are old.Randy

check rotors

Can you tell me if it was in fact the starter? I have an 04 Ford Taurus with 99K miles on it. This week when I started it up, not everytime but often the abs, brake, tire and traction control lights will stay on. Also the computer display will read either park brake engaged or passenger door ajar. I turn it off and start it again and the issue goes away. This morning it acted as though it had a dead battery and I had the clicking sound behind the dash as well as the vibrating needles. Thanks!

If the front end vibrates when you put the brakes on it could be a few different problems. Your need to check the brakes, they may be worn. if the back brakes are worn your front brakes are doing all the stopping. if your brakes are fine then you are looking at the front control arms or the upper and lower ball joints. You can take your car to a brake and front end shop for a free estimate. You are probably looking at about 400 to 1200 dollars.
I hope this helps you out

The brake rotors are warped.. its nothing major, but need turned by a machine shop, or replaced... they are cheap to replace and that is usually the best bet...