Travato and Emergency Brake

When I release the emergency brake there is a beeping that goes on. It's like a headlight on reminder sound. The gear shift can be in any gear when this happens. I can pull the brake on to the first click and it stops. The brake light goes on but I don't believe the brake has really activated as there is no resistance when I start driving.

Just wondering if anyone else has experienced this and if so, how was it solved. I would rather solve it than go to the dealer.

Thanks for any help.