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I noticed this week that the pads on my front brakes are resting on the wheel and (I think) causing some undue friction as I ride. Is this normal? It seems the bracket needs to be titled, but I am unsure how to do this. The bike is a Giant Rapid 3, I've included photos of the brakes as they rest now 
Attempting to fix this on my own before taking it into the shop, but really don't know what I should be trying. They are Shimano brakes
Firstly you'll check the quick release skewer. Two things, one is that the springs are oriented correctly so not jamming up the drop out, the other is that the wheel is fully in the drop outs and not skewed, by loosening and then retightening the qr. Check these first before making any other adjustments.
Spin the wheel and make sure it's not just a localised point that touches the pads, i.e. out of true.
It would be good to check the rim is centred on the wheel, but you probably don't have the dishing tool needed. You could instead check the rim is evenly spaced from the fork legs and that the spokes are evenly tensioned left and right to estimate that the wheel is sound.
Finally you would think about repositioning the brake. Check that the fixing bolt is tight; behind the fork there is a 5mm Allen key nut that you can check is tight. to reposition the caliper, you can either loosen this fixing bolt to adjust the whole thing, or, because you have dual pivot caliper brakes, on top of the brake there is a smaller (3 mm?) bolt that you would turn once or twice and that dials in the balance of the two arms about the rim.
If and when you know everything is installed correctly you can turn that 'centering adjustment bolt' to dial it in, but check the other bits first.
