Could the brakes be burning

I recently had to replace my car battery. I drove it for the first time since then and now it is hard to press the brake pedal, but the lightest pressure engages the brakes. After a 15 minute drive, I could smell a possible burning smell under the steering wheel. I opened the hood and nothing smelled. Could the brakes be burning? How could I fix this? I've turned into a DIY guy in the attempt to learn more and about cars and save money.