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Ensure that the floating rack will fit the cleat exactly, hold the shelf as much as the cleat as well as do a dry fit one that doesn't involve glue or screws. Make any modifications to fit as required. When you are particular the fit is accurate, apply wood adhesive to the top of the cleat, and after that fit the shelf over it. Secure the shelf to the cleat using brads toenailed in from the top of the rack down into the cleat.