declare activity layout in MaterialDrawer library.

activity_main.xml

<android.support.design.widget.CoordinatorLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:fitsSystemWindows="true"
    tools:context=".MainActivity">

    <android.support.design.widget.AppBarLayout
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:theme="@style/AppTheme.AppBarOverlay">

        <android.support.v7.widget.Toolbar
            android:id="@+id/toolbar"
            android:layout_width="match_parent"
            android:layout_height="?attr/actionBarSize"
            android:background="?attr/colorPrimary"
            app:popupTheme="@style/AppTheme.PopupOverlay" />

    </android.support.design.widget.AppBarLayout>

    <include layout="@layout/content_main" />
</android.support.design.widget.CoordinatorLayout>

content_main.xml

<?xml version="1.0" encoding="utf-8"?>
<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:tools="http://schemas.android.com/tools"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    app:layout_behavior="@string/appbar_scrolling_view_behavior"
    tools:context=".MainActivity"
    tools:showIn="@layout/activity_main">

    <FrameLayout
        android:id="@+id/frame_container"
        android:layout_width="match_parent"
        android:layout_height="match_parent" />
</RelativeLayout>