  We show that if $M$ is a sub-Riemannian manifold and $N$ is a Carnot group
such that the nilpotentization of $M$ at almost every point is isomorphic to
$N$, then there are subsets of $N$ of positive measure that embed into $M$ by
bilipschitz maps. Furthermore, $M$ is countably $N$--rectifiable, i.e., all of
$M$ except for a null set can be covered by countably many such maps.
