Brake pedal on 03 Odyssey wiggles back and forth

Is there any way to tighten the brake pedal on a 2003 Honda Odyssey? It wiggles left and right a bit. Is there a nut or bolt I can tighten? I don’t want to start poking around under there without knowing what to look for.

Follow the brake pedal arm up to its top where it pivots. Typically it will mount in or beside a bracket, with a pivot bolt going through the bracket and the pedal arm. The pivot bolt/nut may be loose, the pivot bushing inside/beside the arm’s hole may be worn, or the bracket may be cracked.