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If it is a hand brake then you have to go under the car and look for a cable coming out of the body. the cable will then go to a y type splitter to split to each rear wheel. There is a bolt on the splitter that you have to tighten. tighten it about 3 turns at a time and continue till it is tight enough.

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Q: How do you adjust the emergency brake cable on a 1999 jeep grand Cherokee with disc brakes?
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