If you're not doing the work yourself, take it to a shop and have them inspected, because that can be caused by one of two scenarios: either the brake slider pins are seized as Alex wrote above, or maybe the caliper piston is seized as well, which will require caliper replacement. Is this a Lexus ES or an IS300? Looks like rust got between the outer pad and disc too, so that disc is permanantly damaged and will need to be replaced. You should also replace the pads (again) because the inner pad will likely be more worn than the front.
I personally like to use a ceramic brake lubricant when I do my brakes, but most shops will have a silicone-based brand called Syl-Glide. If not, you could buy a tube from NAPA and bring it to the mechanic, and then ask for the rest back for your next brake service. Anti-seize compound application is acceptable for the brake pad tabs, but not the slider pins.
For all car owners, you should have your brakes serviced once a year to avoid something like this. Servicing doesn't necessary mean replacing parts, but what the mechanic does in a typical "brake service" is remove everything and grind all moving parts clean, and then apply fresh lubricant to avoid heat seizure, as well as displace heat better for longer caliper, pad and disc life. This is one service I recommend if a dealer is trying to upsell this to you. If your car is older than 3 years old, I recommend a brake fluid flush too.
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