I have read each thread on the subject but still am not sure if my 08 JK with just 21k has a problem. I use PARK and very rarely use the emergency brake. I know, it's a bad habit. Last weekend I was on a steep spot and used my emergency brake while I got out to open a gate, I then engaged 4wd high and when I stepped on the brake the pedal went much further down then before. I pumped them and they seemed to come up to normal. Now there seems to be a soft area before the pedal gets harder. I'm not sure if this is normal as the brakes work fine. But with hill assist, ESP, auto brake adjusters...or NOT (that feature or lack of it was discussed on a lengthy thread here) I'm not sure if a firm/hard pedal is just a thing of the past. My '96 Cherokee Sport had a similar feeling pedal. I'm interested in this test. Please start your Jeep, keep it in Park or neutral, release the parking brake, step on the brake pedal and apply steady pressure. Does it feel firm or does it continue to compress and feel spring like?

 

Have you checked the brake fluid level?

The parking brake is a separate system from the service brakes, so it shouldn't have anything to do with it. It may just be that you had to use the brakes more than normal since you were on the hill and thus more fluid went into the caliper.

First thing I'd do with a soft pedal is check the fluid level and try bleeding the system. This is of course if your rotors and pads are ok.