Driving to work this morning I had my jeep on cruise at 70mph. Traffic picked up so I tapped the brakes to slow down for traffic and turned cruise off. When I did I noticed the pedal was very stiff but "broke free" and the brakes worked fine. The "brake" light on the dash lit up but went off after a minute. It didn't repeat itself the rest of the way to work and the brakes work fine.

Anyone ever had this happen before? Or could tell me what to look at first?