READ THIS! This problem is a factory recall since 2014, so just contact your local dealer. What I show here was only a temporary fix, the factory repair also fixes problems with the Body Control Module, not just the Brake Apply Sensor connector contacs. Don't remove the Brake Pedal Position Sensor.
My original video comments are: I found that TH-cam had many videos describing replacing the brake position sensor located under the dash. So I removed my sensor only to test it and find that it was working OK; thus I spent a lot of needless effort awkwardly working on my back under my dash to remove the brake position sensor. I read about an alternative solution that seemed to work for me that is much easier to try. My after-the-fact video explains that approach; i.e. burnishing contacts to the brake electronics and resetting the car's main computer so that it readjusts its brake sensor operating parameters.