Read this first for a better understanding and other possible causes:
http://autorepair.about.com/cs/gener...a100302a_2.htm
Since pressing the brake pedal breaks the circuit to the control module, you need to see if that switch is engauged when the brake is released. If you're lucky, the switch will be a plunger type and should be easy to see if it is depressed even slightly. If so, make adjustments. If not, the switch could be bad or a loose wire to it. To test the switch you would need a multi-meter to see if the switch is allowing 12+v current to go through it. If it's a lot less, say 7v, the internal contacts are corroded.
Now to complicate things a bit, that switch could work in reverse. In other words, I've seen them when in cruise mode, the switch is depressed and when the brake is applied, the plunger is released. This should be obvious when you get a close look.
All this said, the main 2 reasons for cruise failure is brake switch and bad/broke/loose wires in the cruise lever on the column. Since you see problems there now, that is the logical problem area. Up to you were you want to begin. Good Luck!