It's hard to say for sure, my brakes don't ever squeek but that doesn't necessarily mean you have a problem.
If you have other symptoms accompanying the squeek, such as a pulsing feeling on the brake pedal, sqeeking that occurs continuously other than first thing, a "spongy" feeling brake pedal, etc., then you may have a problem.
How many miles do you have on your car? Do you do a lot of heavy braking in stop and go traffic, if so you might just have some brake dust build-up which can cause some initial squeeking. If it is persistent it may not be a bad idea to get the brakes inspected as this isn't a very expensive service but can really save money in the long run if you do have a brake problem.
Here is a link to another Rogue owner who had brake problems that led to expensive repairs, just for reference:
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