Sometimes the connection between the sensor in the pad and the wire harness can get sketchy or corroded. If your pads still look good I would check that connection. It's on the driver side front wheel.
In my Rabbit one of the brake sensors' wiring harnesses is cut (it was cut when I bought the car, and every mechanic brings it to my attention so he's not liable for doing it I think). I just live with it, the dealership quoted me like $400 or something to replace the wiring harness. I can live with checking the break pads myself rather than a sensor telling me, I just need to use VAGCOM to disable the light on my dashboard.
A little solder and shrink tubing will solve the problem. You may need to add in a couple of short lengths of wire to the existing harness. Shouldn't take more than an hour to fix. :clap: