Brake pedal question

I have a buddy who's getting up there a bit and recently banged up his Ram pick-up as he missed the brake pedal, he say's it seems to be a bit too high off the floor and his foot goes under it sometimes. he's as sharp as a tack so I'm sure he's OK to still drive, I myself have a Ram 3500 and I honestly think the brake is a bit high myself as in stop and go traffic I find I need to keep my foot elevated so I'm wondering if anyone out there has had the same experience and what they did.

Thanks in advance!