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Make certain that the floating shelf will fit the cleat precisely, hold the shelf up to the cleat and also do a dry fit one that does not entail glue or screws. Make any modifications to fit as necessary. When you are specific the fit is accurate, use timber glue to the top of the cleat, and afterwards fit the shelf over it. Protect the shelf to the cleat using brads toenailed in from the top of the rack down into the cleat.