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I thought there were two separate switches, but I suppose it could be two switches in a single housing. It sounds like the brake switch isn't operating correctly when the brake pedal returns to the top postion, and jiggling the pedal about sometimes sorts it.
Out of interest, have you checked that the brake lights are working correctly? If it is a single switch and the cruise is just driven from the brake light feed, then you'll probably find that the brake lights are staying on for most of the time.
In which case, get it fixed before your car starts thinking it's a Ford Fiesta
Currently in Horatio's garage:
2010 Laguna III Initiale.