Did the pedal return after a short while? If so, it may be that your
brake fluid need changing.

What happens after a couple of years or more is that the brake fluid at
the calliper end absorbs water from the air (brake fluid is
hygroscopic). When the brakes get very hot, such as during prolonged
braking, the water boils and becomes steam. Gas is compressible, while
liquid is not, so the steam compresses instead of the brake pads being
pressed only the disk. When the brakes cool down, the steam returns to
water and the brakes work again.

Howard Neil