  We derive the super Yang-Mills action of Dp-branes on a torus T^{p-4} from
the nonabelian (2,0) theory with Lie 3-algebra. Our realization is based on Lie
3-algebra with pairs of Lorentzian metric generators. The resultant theory then
has negative norm modes, but it results in a unitary theory by setting VEV's of
these modes. This procedure corresponds to the torus compactification,
therefore by taking a transformation which is equivalent to T-duality, the
Dp-brane action is obtained. We also study type IIA/IIB NS5-brane and
Kaluza-Klein monopole systems by taking other VEV assignments. Such various
compactifications can be realized in the nonabelian (2,0) theory, since both
longitudinal and transverse directions can be compactified, which is different
from the BLG theory. We finally discuss U-duality among these branes, and show
that most of the moduli parameters in U-duality group are recovered. Especially
in D5-brane case, the whole U-duality relation is properly reproduced.
