Combinations between crop intercropping and forage production in a no-tillage system are not well established for environments under low water retention and soil fertility conditions. Our study aimed to evaluate the potential interactions between soybean-grass intercropping with residual nitrogen in a no-tillage system. The experimental design was a randomized block with four replications in a subdivided plot scheme. The main plots in the summer season were: 1) soybean monoculture; 2) soybean - Aruana Guinea grass (Megathyrsus maximus cv. Aruana) intercropping, and 3) soybean - Congo grass (Urochloa ruziziensis cv. Comum) intercropping. The subplots were the nitrogen rates of 0, 50, 100, and 150 kg ha-1, applied as side-dressing in maize and grasses during the autumn-winter season. Here, the results of the summer seasons are shown. To do so, the parameters evaluated were soybean agronomic traits, dry biomass production, and macronutrient concentrations of plants intercropped. The main effects and interactions were studied. Our findings showed that soybean-Aruana Guinea grass intercropping is an alternative to no-tillage system implementation. Moreover, residual nitrogen from the autumn-winter season directly interfered with the dry biomass production of grasses intercropped with soybeans in the summer season. In short, the systems studied seem suitable for implementing a no-tillage system, which aims to neutralize degraded pastures and produce forage for ensilage. Despite the changes in macronutrient concentrations within the intercropping system and residual nitrogen, and among intercropped crops over the years, Congo grass intercropped with soybeans in the summer season showed great capacity for phosphorus, potassium, and magnesium cycling.