Stuck Emergency brake

I posted a few months ago about my parking brake sticking sometimes. Now it is starting to bother me. I havent used the brake for months and I really hate the jolt that the transmission gives you on a hill when you put it in park, even if I ease off the brakes slowly. When I have the parking brake on and try to take it off, the pedal doesn't always come up all the way. Then I have to kick it up from underneath. The pedal will then pop up, but the brakes wont come off all the way. When I start moving, there will be a loud squealing noise. After going a few feet, I'll hear a clunk and the back brakes will finally release. How can I fix this, cause I know it will fail inspection.