If "embarked" means to begin a journey or venture:
* Desisted: Stopped or ceased.
* Abandoned: Left behind or gave up on.
* Discontinued: Ended or stopped.
* Withdrew: Took back or removed oneself.
* Remained: Stayed in place or continued to be.
If "embarked" means to go aboard a ship or aircraft:
* Disembarked: Got off a ship or aircraft.
* Departed: Left a place.
* Left: Moved away from.
If "embarked" means to engage in or become involved in something:
* Disengaged: Removed oneself from.
* Withdrew: Pulled back from.
* Abstained: Refrained from participating.
* Avoided: Kept away from.
To give you the most accurate antonym, please provide the sentence or context where "embarked" is used.