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Make sure that the floating shelf will certainly fit the cleat precisely, hold the shelf as much as the cleat and do a completely dry fit one that doesn't involve glue or screws. Make any changes to fit as necessary. When you are particular the fit is exact, use timber adhesive to the top of the cleat, and after that fit the shelf over it. Protect the shelf to the cleat making use of brads nailed in from the top of the rack down into the cleat.