Touch ID issue notification text iPhone

First look at the settings app to see what the red badge is.

The reset the touch ID and delete all fingerprints, the try to set up another fingerprint. (Settigs, touch ID and passcode)

Then

First try a Forced restart

Force restart iPhone – Apple Support (UK)

If no better

Backup, restore to factory,  and   test, then restore from backup:- 

(If the phone needs attention you will have to do this anyway)

If you can import your media to Photos or iTunes in a computer and copy important documents to a cloud server it will give you some resilience in case the restore from backup fails, or you need to ditch the backup and start as new. 

(1)          How to back up your iPhone, iPad, and iPod touch - Apple Support

(2)          Restore your iPhone, iPad, or iPod to factory settings - Apple Support

(3)          Restore your iPhone, iPad, or iPod touch from a backup - Apple Support

If the problem remains then do step (2) again but set up as new without restoring any backup.

 If it fixes it then it is probably a rogue app.

If it doesn't fix it then the home button may be faulty.