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Check the brake fluid level. Look around for leaks.

Could be the brake master cylinder too.

Or moisture in the system that evaporates when heated up. Symptom presents only when braking intensely.
 

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Help us help you better...is there any more details you can reveal? When, where, what, how, etc?

When does the soft pedal occur...at start up, after running a while, after hard braking, with normal braking when coming to a stop? Can you pump the pedal to firm them up? If you do...do they firm up temporarily then soften again?

When was the last time the brake fluid was changed? BMW recommends a 2-3 yr change interv since brake fluid is hygroscopic.

{from owners manual}





 
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