  We investigate the cosmological consequences of a two brane system embedded
in a higher dimensional background spacetime with a compactified extra
dimension described with an action that include the intrinsic curvature for
each brane. We find that the dynamics of each brane is related to the other by
means of cosmological restrictions that involve the scale factors, the equation
of state parameters and the Hubble parameters of the two branes. We analyze the
evolution of the scale factor and the equation of state parameter for the
hidden brane when in the visible brane is present a cosmological constant,
radiation or non-relativistic matter. The topological restrictions give rise to
the cosmological scenarios without initial singularity, recollapsing and
oscillating universes.
