Mark Watt and William Pereira took three wickets each as Derbyshire dismissed Warwickshire for 367 on Day One of the Second XI Championship game.
Alex Thomson (99), Michael Burgess (60), Brookes (60) and Liam Banks (52) all hit half-centuries for the hosts at Barnt Green as they posted the total of more than 350 before Derbyshire had to see out the final six overs of the day.
The visitors managed 17-1 before the close of play on the first day, with Jack Redman unbeaten on nine and Tom Wood not out on two ahead of the second day.
Having won the toss, Warwickshire elected to bat, but there were only eight runs on the board when Pereira (3-69) had Dan Mousley caught behind for three.
Former England batsman Ian Bell came to the crease and put on 81 runs for the second wicket with Banks, making 40 runs himself before being trapped lbw by Periera.
Arthur Godsal (2-96) claimed the wicket of Banks for 52, while Thomson was just one run short of his century when Watt (3-29) got him out lbw to claim his first wicket of the innings.
Watt quickly claimed the further wickets of Brookes and George Garrett to end the Warwickshire innings on 367, giving Dersbyshire six overs to bat out on the first day.
Savin Perera fell lbw to Brookes for three, but Redman and Wood were able to see out the day and will resume with Derbyshire 17-1 on Day Two, trailing by 350.
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