Brushing will not remove the discoloration. It is best to see a dentist for a full evaluation and treatment options. We need to know your health history...do you have heart conditions, diabletes, acid reflux, mental anxiety/depression, medications/conditions/medical procedures that affect saliva flow, etc.? Do you have unresolved stress, grind/clench, TMJ dysfunction, biting difficulty, missing teeth, dental anxiety, etc.? What are your expectations with appearance, maintenance and costs?
There are so many options varying from minimal intervention to complex and comprehensive care involving many specialties. Hopefully you have clear expectations and an informed plan.