You could consider using PDFObject by Philip Hutchison.
Alternatively, if you’re looking for a non-Javascript solution, you could use markup like this:
<object data="https://stackoverflow.com/questions/14081128/myfile.pdf" type="application/pdf" width="100%" height="100%">
<p>Alternative text - include a link <a href="https://stackoverflow.com/questions/14081128/myfile.pdf">to the PDF!</a></p>
</object>