Extensive literature exists on the topology design of single-component structures while multi-component structural systems have received much less attention. In this paper, we present a technique for optimizing the topology of a structure that should be connected to one or more pre-designed components to maximize the stiffness of the overall assembly. We call it an embedding problem because pre-designed components are to be optimally positioned and oriented within a design region while the connecting structure’s topology is optimized simultaneously. Continuous design variables are used to vary the locations of the embedded objects smoothly along with the topology of the connecting structure in order to apply gradient-based optimization algorithms. A new material interpolation function on the basis of normal distribution function is used for this purpose. Optimality criteria method combined with the steepest descent method is used to minimize mean compliance to obtain the stiffest structure for a given volume of material. As a special case of this method, topology optimization of multi-component structural systems is also considered. Illustrative examples are presented.