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The brake pedal on our car just went to the floor and we weren't able to stop. The brakes "soft of" work, but only if I push really hard with my foot. What do you think happened? How do you think it can be fixed? I found a lot of dripping from the middle rear underside of the car, especially when pressure is applied to the brake pedal. I don't really know what runs through there, though.  

Sound like you have a broken brake line or brake hose.
Brake lines do rust through , and brake hoses will dry rot and fail to hold pressure.