2002 yukon squishy brakes

[comicaltatertot]

So we have a 2002 GMC Yukon XL and the brakes are just not good. They have almost brand new rotors and pads, but when you press the brakes the brakes don't engage until the brake pedal travels 3/4 of the way to the floor, not until the pedal is pressed almost to the floor do you actually stop.

This is not a new problem have been having it for a few years now.

What would cause the brakes to do this? any recalls for this?

There are no abs lights on, or anything like that.

Thanks for the help
Tate