Well, as far as compatibility the Behringer MS20's are speakers. So connecting them would be as simple as 1/4 out on the DP02 to rca in on the MS20's.
As far as quality for the price, there are many other options in comparison to the MS-20's Alesis has some decent monitors and M-audio has the BX5ad's. Look around.
Behringer isn't bad, but its not outstanding. I'm sure there are many folks who will testify that you don't want to buy Behringer gear because it might konk out on you sooner rather than later.
KRKs are worth a listen to as well. The tweeters are very smooth sounding and make competitors sound harsh - because a lot of them are. I'd rate M-Audio below Behringer.
I recently purchased the KRK rokit g2 6” and they are very accurate and tight sounding. The bass is dry and in your face. I´m very happy with them and they can sound really loud