The world-volume action of the M2-brane and the M5-brane in an AdS(4) x S-7
and an AdS(7) x S-4 background is derived to all orders in anticommuting s
uperspace coordinates theta. Contrary to recent constructions of super p-br
ane actions relying on supercoset methods, we only use 11-dimensional super
gravity torsion and curvature constraints. Complete agreement between the t
wo methods is found. The possible simplification of the action by choosing
a suitable kappa gauge is discussed. [S0556-2821(99)08004-2].