The brake pads always sit against the rotor on any car. It's not like when you let the pedal off the piston pulls back in and leaves a gap, otherwise next time you applied the brakes your entire pedal effort would go to just reseating the pads, and you would then either have to press the pedal again or run into the object you're trying to avoid.
How much contact is your question here. Front, or rear? The rear calipers always seize up on an Schassis, so that's a definite possibility. Fronts rarely do but could be frozen from sitting, so instead of guessing, jack the car up and verify which caliper is the issue.
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