99 Durango. Brake pedal won't recede back to up position. Not enough to even turn off brake light. vehicle sat unused for a couple years. rust around brake pedal pivot points that I lubricated. I susp

The crusie control not working would be caused by brake lights being on same as for the key not coming out . You need to test the brake pedal position sensor . The brake pedal position sensor is under the dash hooked to the brake pedal arm . You need a wiring diagram to tell which wires are what . The pedal position sensor isn't like brake light switch from years past , it's an input for the BCM - body control module .There is three wires at the switch , 5 volt ref. , ground and signal . All go to theBCM . You could have a sensor problem , problem with the BCM . There could be DTC'S - diagnostic trouble codes stored in the BCM .
The brake pedal position sensor is used to sense the action of the driver application of the brake pedal. The body control module (BCM) provides a 5-volt reference voltage and low reference to the brake pedal position sensor. The position sensor provides an analog voltage signal back to the BCM that will increase as the brake pedal is applied. When the brake pedal is applied, the BCM will then apply battery voltage to the left and right stop/turn signal lamp supply voltage circuits and the center high mounted stop lamp (CHMSL) supply voltage circuit illuminating the stop lamps. At the same time the BCM applies battery voltage through the signal circuit to the transmission control module (TCM) and the engine control module (ECM) indicating that the brakes are applied.

Your best bet would bet to take it to qualified repair shop

i expext the whole brake system seals are rotted and the brake calipers and cylinders are siezed ,so the best thing to do is get a workshop manual which will give you a step by step guide to a complete brake overhaul , or take to a mechanic but have a go your self first

check to see how much pad is on the break pads also remove the rust around the disk as this some times catches on the pads making a scraping noise hope this helps ivan

Thats quite a list.
The brake noise could be rust on the rotors, but you should check all 4 wheels. The pedal going to the floor is probably a faulty master cylinder.
The clicking noise around the shifter is more or less normal, its the solenoid that locks the shifter in park.
You would probably need to have a tire shop check the rear suspension for that noises.

Check the brake pedal's suspension; you should find the brake light switch there and it has either failed or its mounting bracket needs to be adjusted.

You may have contaminated brake fluid. Try flushing out the brake lines, calipers, and master cylinder by bleeding the heck out of the brakes. Use a NEW can of brake fluid (see why below). This is something overlooked in vehicle maintenance. Whenever doing a brake job, flush the system. I learned the hard way, having calipers drag, not fully releasing, to change them and have it happen again. Finally figured out it was bad fluid which was ruining the calipers. Brake fluid absorbs moisture, which will wreck the system. Just leaving a bottle of fluid with a loose, or missing cap will allow moisture to enter. Brake lines will rust on the inside, and loose particles of rust floating around will cause big problems.

sounds like the brake switch is either shorted or mal-adjusted behind the brake pedal and not opening

Sounds like you need to replace your brake light switch.  It is located on your brake pedal and you should be able to pick it up for around $20-$30 at your local parts store.

Check the brake light switch (aka stoplight switch) mounted high up on the brake pedal. Some have an adjustment, which hopefully is all that is wrong, it must be adjusted. Try pulling the brake pedal up, do the brake lights go off? If they do, then it needs to be adjusted.

You can adjust the switch by putting your thumbs on either side of the switch plunger and pushing toward the brake lever. The switch shaft will ratchet into the new position which is will then be depressed by the brake lever when it is the brake is not being depressed.