Custom TaxonomyTemplate

Create a page with slug ‘brand’. Then create a custom page template and write required loop to return the terms of the ‘brand’ taxonomy. Assign that page template to ‘Brand’ page.

Visit this codex page to know how to code a page template.

And here is an example of how to list terms of custom taxonomy:

$args = array( 'hide_empty=0' ); //this will make sure no term is hidden. Even if empty term.

$terms = get_terms( 'my_term', $args ); // replace 'my_term' with your taxonomy.
if ( ! empty( $terms ) && ! is_wp_error( $terms ) ) {
    $count = count( $terms );
    $i = 0;
    $term_list="<p class="my_term-archive">";
    foreach ( $terms as $term ) {
        $i++;
        $term_list .= '<a href="' . esc_url( get_term_link( $term ) ) . '" alt="' . esc_attr( sprintf( __( 'View all post filed under %s', 'my_text_domain' ), $term->name ) ) . '">' . $term->name . '</a>';
        if ( $count != $i ) {
            $term_list .= ' &middot; ';
        }
        else {
            $term_list .= '</p>';
        }
    }
    echo $term_list;
}

Here is the reference for more details about get_terms()