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Ensure that the floating shelf will certainly fit the cleat precisely, hold the shelf up to the cleat and do a completely dry fit one that doesn't involve glue or screws. Make any type of changes to fit as required. When you are particular the fit is accurate, use wood glue to the top of the cleat, and afterwards fit the shelf over it. Safeguard the rack to the cleat using brads toenailed in from the top of the shelf down right into the cleat.