We propose a method for simultaneous localization of non-Abelian gauge fields and matter fields with minimal interaction on domain walls using U(N)(c) gauge theory with SU(N)(L) x SU(N)(R) x U(1)(A) flavor symmetry. Localization of non-Abelian fields isachieved using field-dependent gauge coupling. We find that effective Lagrangian up to second order of derivatives for low energy fluctuations resembles a chiral model from hadron physics with additional minimal interactions of pions with localized gaugefields together with nonlinear interactions of moduli fields. This result provides a step towards a realistic model building of brane-world scenario using topological solitons.