1993 camry warning light

I have a 1993 Camry LE V6 with 68,000 miles on it. The rear-light warning light is constantly on on the dashboard near the speedometer. The rear lights were just replaced and they are definately working right. I have checked the lights many times and they are properly in place. I think this same problem has happened a few years ago and when I took it to the dealership, they fixed it for $200. I am not looking to spend that much money on what could be a simple repair. Also, another problem with this car is that each time the brake pedal is pressed, the reverse light lights up. (The "R" light under "P" between the speedometer and the RPM meter) (futher clarification: By "reverse light" I am not talking about the tailight, I am talking about the orange "R" that should light up when I shift to reverse).

If anyone knows the solution to either of these problems, it would be greatly appreciated. If anyone needs any photos I can take