If memory serves, and this is all based on previous readings, when the brake pads are worn out the electrical connection between the sensor and the warning light is severed triggering the warning light and so the solution is to replace the sensor/s which come with the appropriate wiring. This is something ideally done at the point where the pads are replaced. (for future reference, if possible, it is obviously cheaper not to let the pads get that low - I changed mine when only 10% was left on the pads and the sensors were still intact and did not require replacement). I do not know whether it is economical to replace the sensors - the sensor for my windshield wiper fluid went recently and Lexus informed me that the new sensor would cost £200 (British pounds) - at that price I enjoy looking at the low windshield wiper fluid warning light! As for the brake pads light - do you really need it? Here, in the UK, every time I take the car into Lexus or other garage they automatically inform me as to the condition of the brake pads!
All the best