Both non-Abelian gauge fields and minimally interacting massless matter fields are localized on a domain wall in the five-dimensional spacetime. Field-dependent gauge coupling naturally gives a position-dependent coupling to localize non-Abelian gauge fields on the domain wall. An economical field content allows us to eliminate the modulus for an instability, and to demonstrate the positivity of the position-dependent coupling in the entire moduli space. An effective Lagrangian similar to the chiral Lagrangian is found, with a new feature of different coupling strengths for adjoint and singlet matter that depend on the width of the domain wall.