It sure sounds like something is scraping metal-to-metal but hard to tell from the audio. If you don't have the resources to check the pads and rotor yourself, go to a reliable brake shop and get them to check everything out. From the sound of it, you will probably need to turn the rotor and possibly replace the pads. While you have it in the brake shop, have them do a thorough inspection of the front brakes.
At 35000 miles, I would turn or replace both rear rotors and and replace both sets of pads. YMMV
It could be the parking brake.
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