Gradually transforming abstract, conceptual ideas into physical assemblies is seen as one of the key competences of design engineers. Despite the general recognition of the Embodiment Design task as essential phase of every development process, a general methodical support seems either not available or, at least, not influential. Instead, Embodiment Design is often considered an expert task. In this context, our paper offers a discussion of embodiment design from a design methodology perspective. Drawing from a review of relevant literature, we explain why embodiment might be better understood as the representation of the physical artifact rather than a design phase, provide properties and characteristics of good embodiment solution, and give initial guidance for the transition from the creative exploration of concepts to the actual search for satisfactory, or even optimal, embodiments.