Open the back of your Rav4, on both sides of the back from the inside, there will be a plastic cover over where the brake light would be, gently take that off and you can see the brake lights from there. Just twist the harness that the bulb is in and the bulb should just pop out. Good luck.
How do I change the Front Brakes on a 2001 Toyota Corolla?
how do you change the front brake rotor on a 2001 highlander?
see link
Look behind a panel in the trunk
what color is the negative parking wire and where is located
Look in the trunk, there is cover for the brake light, remove and you will have access to change the bulb.
How do I replace the dash panel lights on a 2001 toyota sequoia?
If the brake lights stay on that probably means the switch on the brake pedal that activates them is defective.
The only way to turn them off is to shut off the ignition, pull on the parking brake lever, then restart your engine. Running lights should be off. Once parkig brake is released, lights will come back on.
The brake light switch has failed
faulty brake switch
bulb(s)