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either the system needs to be "reset" or you damaged a sensor during the process. Try removing a battery cable and leave it off for a couple minutes. reconnect the cable , start & drive... if light returns, need to visit your favorite mechanc for diagnosis
I dunno if this will work on your BMW, but on my BMW Z3 and M3, it was....
Turn the ignition key to position 2, but do NOT start the car. Wait for
about 45 seconds and the brake warning message will be reset.
If it doesn't reset, then the brake sensor was damage. You will need to replace the brake sensor. It sounds like you replace the brake right after you saw the warning, so the brake sensor should be okay.