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If your a Prelude is indeed an automatic, then you might want to have the brake master cylinder checked out. If the seals inside the brake master cylinder is leaking internally and brake fluid is bypassing the seals then you're gonna have the condition you're describing. But make sure you are not leaking brake fluid anywhere in the brake system. Have the brake lines, hoses, calipers and/or wheel cylinders checked for leaks. If no leaks are found, chances are that the brake master cylinder is the problem. Replace the brake master cylinder and bleeding the brake system should cure your problem. By the way, if the car has rear drum brakes, make sure they are adjusted correctly.
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