Lexus rx300 braking noise

[isee]

Just wanted to ask if anyone knows if i shoul dbe worried.
The car makes a very audible (and to some extent tangible, reverberating through the pedal) grinding noise when coming to a full stop (not noticeable when just trying to shave off some speed).

I looked at the brake disks and they seem fine with very little lip on the outside. Also according to the book the new pads were fitted not 10k miles ago. Is this a common, minor fault or does it warrant having it checked/serviced?

I ask because I have just bought a house and could do without the extra spend for this month at least