Look at the master cylinder. Look on the firewall in the engine compartment, in front of the area the driver sits. Clean off the reservior before opening it. You should be able to see the level and marking indicating how high it should be. If it has been 2 years or more or it is dirty , I suggest flushing it out, especially if it has ABS. Pukenstein@aol.com
-- Also --
I use a really long cable tie (make sure it's new and clean) as a dipstick. I agree that replacement of old brake fluid is a good idea.
A 1999 Dodge Caravan uses DOT 3 brake fluid.
Brake fluid for the Caravan is labeled as a "DOT 3" fluid.
check your brake fluid it is probably low
The brake fluid reservoir on a 2002 Dodge Caravan is located on the master cylinder. This will be in the engine bay, on the drivers side, near the top.
How do I check my transmission fluid on my 2008 dodge grand caravan ... to service a 2014 Dodge caravan w/c van that doesn't have a dipstick to check fluid
any brake fluid that has a DOT 3 rating will work