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Disc Brake Light



The disc brake light illuminated on my 100 quattro wagon with 59K 
miles.  Does this light come on based on mileage or on actual wear?  
My manual says to visit my local Audi dealer for service.  Do I need 
any special tools to replace pads?  If there is a sensor should that 
be replaced as well?  Any help would be appreciated.  I guess it's 
time to purchase Bentley manual, which I understand is now available.
David Torrey