When you place an image, there is a check-box called 'Link'. If that's turned off, you image will be embedded.
If you have an existing file, go to the 'Links' palette (Window > Links). Select an image, then in the flyout menu on that palette, select 'Embed Image'. Repeat for all your images, and you're done.
Even easier, check 'Include Linked Files' when saving as an EPS. Anyone opening it up may get a few warnings, with buttons such as 'Extract (no preview)', etc. Although the images don't show up on screen, they should still print. Using 'Embed Image' on those invisible images will make them visible on screen again, if required.