The principle of least action and the geometric basis of D-branes

We analyze thoroughly the boundary conditions allowed in classical non-linear sigma models and derive from first principle the corresponding geometric objects, i.e. D-branes. In addition to giving classical D-branes an intrinsic and geometric foundation, D-branes in nontrivial H flux and D-branes embedded within D-branes are precisely defined. A well known topological condition on D-branes is replaced.