In this paper, the BR2 high-order Discontinuous Galerkin (DG) method is used to discretize the 2D Navier-Stokes (N-S) equations. The nonlinear discrete system is solved using a Newton method. Both preconditioned GMRES methods and block Gauss-Seidel method can be used to solve the resulting sparse linear system at each nonlinear step in low-order cases. In order to save memory and accelerate the convergence in high-order cases, a linear p-multigrid is developed based on the Taylor basis instead of the GMRES method and the block Gauss-Seidel method. Numerical results indicate that highly accurate solutions can be obtained on very coarse grids when using high order schemes and the linear p-multigrid works well when the implicit backward Euler method is employed to improve the robustness.