The model-driven method has recently attracted considerable attention as a means of improving the reliability and efficiency of embedded software design. This paper describes an embedded software course incorporating a model-driven method. In this course, students learn both a new model-driven approach for embedded software design and a conventional programming method. Even though they initially find it difficult to learn and apply the new concepts, most of the students find the model-driven method attractive due to its visual design. Our teaching experience indicates that the model-driven method can be incorporated into an embedded software course without compromising conventional content.