The owner's manual is available for download at
www.infinititechinfo.com - and I think you can purchase one there too if you want. Assuming you don't have the factory service manual, it's available at
www.nicoclub.com/FSM/
The brake light is typically a response to low fluid in the master cycliner.
At this point I would check with your local Infiniti dealer and see if they can give you a print-out of it's service history. They should be able to pull up all dealer work since new. In the absense of any evidence of recent maintence I would flush all of the fluids (ATF, Differential/Transfer Case, Coolant, Brake, Power Steering) and then see what happens from there. The brakes are probably warped rotors... pretty common on that model, and unfortunately on Infiniti and Nissan products in general.
Congratulations on your new purchase!
Heath