[email protected] 550 miles and forgot to release parking brake

Hi everyone I've been lurking the forums for a while finding a lot of useful info here. Today as my GF and I left our surprise baby shower, I forgot to release the parking brake (aka third break on top of the dead pedal). The vehicle automatically started beeping and warning me to release it which I did and heard a mini tire squeal. This all happened in a matter of 3 mins and want to know if anyone has had experience on the matter. Could I have done any damage to it. I guess I'm just very paranoid being that this is the family car and wouldn't want any problems this early into the SUV.