We provide a simple characterization of simplicial complexes on few vertices that embed into the $d$-sphere. Namely, a simplicial complex on $d+3$ vertices embeds into the $d$-sphere if and only if its non-faces do not form an intersecting family. As immediate consequences, we recover the classical van Kampen--Flores theorem and provide a topological extension of the Erd\H os--Ko--Rado theorem. By analogy with Fáry's theorem for planar graphs, we show in addition that such complexes satisfy the rigidity property that continuous and linear embeddability are equivalent.