GlassFish Server 18.104.22.168 was released a few weeks ago. This micro release fixed a couple of important bugfixes - one in JAX-WS (JAX-WS-1059) and another one related to JK listener with Apache + mod_ajp_proxy (GLASSFISH-18446). This release is already integrated in NetBeans 7.2 and you can download separately from here.
Maven coordinates for this build are now also described on the download page. The following fragment in your pom.xml will allow you to invoke embedded-glassfish:run, embedded-glassfish:deploy, and other similar commands.
GlassFish Embedded Server Guide provide more details about setup etc.
Similarly full platform or Web profile implementation of GlassFish can be included as a single JAR using
Of course, you need to replace "glassfish-embedded-web" with "glassfish-embedded-all" to get complete platform.