EMB-175 Captain reported an air turn back after receiving a PRKG BRK NOT RELEASED EICAS message along with an EMER/PRKG BRAKE indicator illuminated. After a precautionary landing; the flight was continued to destination airport.

Narrative

During climbout; we received a PRKG BRK NOT RELEASED EICAS message along with a EMER/PRKG BRAKE indicator illuminated. We ran the QRH and it did not reset; so we requested priority handling and asked for delay vectors back to ZZZ so that we could prepare for the approach; coordinate with dispatch/FAs/passengers; and also to burn a little fuel to get us under max landing weight.About 10 minutes later; the message and light extinguished on their own. At that point; we assumed that it was probably a sensor issue; but still opted to brace out of an abundance of caution due to the severity of that message if it was real.We made an initial announcement to passengers and then followed up with more information once the FAs had reported that they were finished preparing to land.Once we were under max landing weight; we landed in ZZZ without incident. We had ARFF standing by; but we had no indication of abnormal braking and all brake temperatures were normal; so we made a quick announcement to the passengers and continued to the gate; where ARFF checked our brakes.Once at the gate; we debriefed with all involved and with each other as a crew and decided that we were comfortable to continue on; as another plane was available and ready to go. As far as I am aware; there were no passenger disturbances and no passengers were upset beyond what would be expected. The second attempt continued to ZZZ1 without incident.