A servo assisted brake pedal will always fall to the floor when engine running if you keep your foot on it for long enough, the fact that it is firm with the engine off would tell me that you probably have no leaks or air in the system. When you are driving the car, do the brakes work ok? After turning off the engine do you hear a hiss when you operate the brakes for the first couple of pumps? this would suggest that the servo is holding pressure. If not, then a check of the servo vacuum hose and connections would be a good starting point. What rear brakes has your vehicle got? If they are drums and shoes, this could be an indication that the shoes are wearing or badly adjusted, or possible leakage from the rear cylinders. I am assuming that you have checked the front pads and fluid level and there are no leaks present in the system.