How do you get the brake warning light on a 95 Camry to go out?

Well, the cheap way would be to pull the fuse that controls that light, but most likely that will turn off other lights as well, and not fixed the problem in the first place. If you can get it, grab an OBD2 diagnostic unit and run it in your car and see if it gives you an error code you can research. Another handy thing to try is to make sure the parking brake is completely down while driving.