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Make certain that the floating shelf will fit the cleat exactly, hold the shelf up to the cleat as well as do a completely dry fit one that does not entail glue or screws. Make any adjustments to fit as necessary. When you are specific the fit is precise, apply wood glue to the top of the cleat, and after that fit the rack over it. Secure the shelf to the cleat using brads nailed in from the top of the rack down into the cleat.