It’s very simple to do that. Just follow this instructions and you have your map.
1. Go to Google Maps and find the address you want.
2. In Configurations (a gear in the botton of the page), choose Share or embed map.
3. Go to Embed map and you’ll see the code to put in your page. Just copy and paste it.
4. Done!
You can still use one of the default sizes of the maps (small, medium or large) or make a new one with the size you want (custom size). ;-)
Hugs.
In time: if you want to have “Get Directions” in your map, the smaller height you can use is 300px.