I have to put my foot under the brake pedal and pull it up a little to get the cruise to engauge. I've tried to adjust the brake pedal switch but didn't get it just right.
You need to adjust your brake light switch.
Here's how you do that:
You can easily take the stop light switch off the foot pedal assy. Push the brake pedal all the way down. Then you rotate the switch 30* counter clockwise, then it comes out. Then unplug the wiring connector.
The procedure for installing a new one says to pull the plunger all the way out, and then push it in 4 clicks. After installing it "lightly" lift the brake pedal up to it's full rearward position. Doing this will cause the plunger to rachet into the switch - into "correct adjustment".
After you take the old switch off the pedal cluster, you (maybe) can pull the plunger out. Then on reinstalling it you go through the adjustment process.
If you pull the brake pedal up with too much force, you will "adjust" the switch so that it will never turn the brake lights off (or permit the cruise control to work). This can be done hard enough to jam the plunger fully inward. The book says "Excessive force will damage the switch".
When I got my '96, it's brake light switch was like this. I had to remove it, and carefully disassemble it in order to pull the plunger back out. The book said you couldn't do this - but hey, how many other things are not user servicable? You can take it apart, and reassemble it with the plunger working correctly again.