Everytime I use the brakes both warning lights on dash illuminate, red and yellow. Brake fluid is full and brakes are working fine. When I turn off ignition switch the lights clear but they come back on when I use the brakes. What could be causing this?

 

Check the connector on the brake fluid reservoir, master cylinder
Not uncommon for these to get corroded or for a wire to break at the connector

 

is the yellow light the ABS light? may need to scan it for abs codes. abs codes will cause the brake light to come on on some vehicles.