I've had this happen and always try to run round the block first. My 996T seemed particularly bad and one one occasion took liberal use of the accelerator to free it. Bit scary as I enter my garage at an angle.
The other problem I had on that car when the PSM light came on was when I could feel the brakes being applied whilst driving, although foot was nowhere near pedal. After parking up to go shopping, on our return the car would not budge, and had to be relayed. In this instance the ABS unit failed locking the brakes on. This was not a cheap fix! At least it didn't occur when I was at speed.