2009 Hyundai Accent Drove 20kms with the ebrake on (yes, Si

I never use the e brake and rarely have on any vehicle that I've owned. I let a friend borrow my car and when they parked it, they engaged the e brake.
I long story short drove from almost one end of the city to the other with it engaged! Finally the smell started coming into the vehicle, and my brakes started to fail. I left the vehicle for about 3 hours to let the brakes cool down and after that they seemed fine. Do you think I'll need to get my brakes replaced?