ahha i remember in my mates nissan Exa, we were driving it very hard (working doing delivery driving for a chinese restaurant) we got back to the shop one time and the heat in the rotors and pads after stopping made them burst into flames .. hahaha
i shit you not, so if it hasnt got to that point your everything will be fine, as long as you start driving again as Jason said to get everything cool, and to stop hot spots on the rotors