How to fix brake pedal without bleeding brakes?

A car got in my lane so I pushed on the brake hard, now my brake pedal goes super low. I've done it before and a mechanic friend reversed and accelerated in my driveway, this fixed the brake going low problem (my brakes were super firm). I do not remember exactly what he did though and he's not available. My brake pads also still have half their lives. My brake fluid is also full and still has its light color. My car is a 2009 Ford Fusion Sel. What do I do?

They shouldnt have gone soft but its not bad either, i think your best bet would be to bleed them