Brake noise

I got a strange one that I need some help with. I have a 2012 Pre. dcsb, 23xxx miles, and on the first drive of the day ,after normal start/warm-up, I shift into reverse and back down driveway, upon braking the shrill noise starts from the brakes . Everyday and always in reverse
the first time. I believe it is from the wear indicators on the pads but why in reverse and first movement of the day? The brakes work fine , no other oddities are observed ! What should I do to stop this sound, my neighbors are getting pissed I think!
Tim

 

Take your wheels off and inspect and replace your brakes if needed.

 

This exact same thing happened to me once. Brakes worked fine except for the noise.
It was the pad wear indicators. There is still about 1/3 left on the pads, thats why
they still work.

 

Just replaced the parking brake cables for pretty much this exact issue. Broken driver side cable and seized passenger side cable

 

Thanks everyone, it's sorta hard to grasp that the brakes are that worn with 23xxx miles that the idicators would alert in reverse or forward movement but I will take a peek as soon as the rain stops!
Thanks again,
Tim