You will need to replace the rear brake friction -- shoes, pads, whatever. Also, check to see if the drum or rotor is discolored due to overheating. If so, they will need replaced, too. If overheating of the brakes occurred, the following isn't required, but highly recommended: replace the brake fluid in the system. How much all this will cost depends on who's doing the work. A shop in my area charges from $200 all the way up to $500 for this particular repair... call a good shop in your area.
drive with it off and have the parking brake inspected for damage.
Leaving the parking brake on while you drive
no it wont as long as your parking break is not on . usually the light comes on to indicate that you are running low on break fluid
Like any vehicle, the parking brake is intended to be a parking brake. depending on the condition of your brakes, your rear wheels may lock up or just turn with limited speed. no major damage can be done by this practice in the short term, but large amounts of driving with the parking brake engaged will wear away the lining of your brake pads.
Sounds like the unit is being parked on an incline. If this is the case, when you come to a stop before shifting into ark engauge the parking brake. This will keep the parking pawl in the transmission from getting into a bind. Before releasing the parking brake when you wish to drive again shift into drive before releasing the brake. if this does not solve your problem you may have internal transmissin damage.
Apply the parking brake.
Put your foot on the brake, pu the car into drive and the parking break should disengage. if not, push on the parking break while holding the break in drive.
It is possible the hand/foot parking brake may be partially engaged. With the foot parking brake, you may have to pull on the release handle while simultaneously with your foot, pull back on the parking brake.
Parking brake is on, transmission is not working, drive shaft is broken, tires are frozen to the ground.
No Auto put in drive
To release the parking brake, hold the regular brake pedal down with your right foot. Push down momentarily on the parking brake pedal with your left foot until you feel the pedal release. If the parking brake is not released when you began drive, the brake system warning light comes on and s chime sounds as a warning that the parking brake is still on.Manual Book page 2-28
Shut the car off, engage the parking brake and when you turn the car back on the lights will stay off until you release the parking brake.