Here is the full list of all 22 Embark achievements.
Survived the world generation screen
Have a new colonist be born
Have a colony with 8 colonists
Have 21 colonists in your colony
Have 50 colonists in your colony
Have your colonists craft 10 items
Have your colonists craft 500 items
Have your colonists craft 10000 items
Survived your first winter
Survive for 2 years
Survive for 12 years
Kill 100 creatures
Complete all research
Craft a legendary item
Craft an iron item
Trade 1000 worth of items
Dig up 2000 blocks
Have a room with 100 quality
Clear your first hostile camp
Craft at least 50 items in one day
Craft at least 300 items in one day