As opposed to usual Einstein gravity in four dimensions, the Brane-World scenario allows the construction of a local density of gravitational energy (and also of momentum, of angular momentum, etc...). This is a direct consequence of the hypothesis that our universe is located at the boundary of a five-dimensional diffeomorphism invariant manifold. We compute these Brane-World densities of charge using the Lanczos-Israel boundary conditions. To proceed, we implement an explicitely covariant generalization of the Hamiltonian procedure of Regge and Teitelboim given in a previous work. We finally study two simple Brane-World examples.