Here it is explained how to create Embedded Form on your website.
To create the Embedded Form please follow the below-given link.
Create and Send Online Link and Capture Esignatures
After saving, this form will open, click on get link to generate an embedded link:
Click on ‘Embed in your Website Link’ in the left pane of the generate link popup. Copy the embedded code and paste on your website page (code). This will be iframe on your website.