Yes, but brake wear is due to friction forces on pads and rotors. Statically holding the car on the brakes causes no wear. Only issue might be as Farmer chalk mentioned if you brake from speed then leave your foot on the brake it 'can' cause the rotors to warp due to uneven cooling of the rotor metal. Not sure if this is applicable to my argument that in traffic - typically slow moving you can leave in D with brake (either engaged). 2015 RRS AB SDV6, Fuji White, Ivory
2012 RRS HSE SDV6, Sumatra Black and Ivory
Audi A5, 3.0 TDI, Gone
Audi TT, 3.2 V6, Gone
BMW 5 series tourer, Gone