I like to embark with 3+ soil layers, the absence of an aquifer layer, and with some form of sediment stone, preferably limestone, dolomite, or chalk. A volcano helps to get magma sooner, though it usually results in there not being any sediment stone nearby. The extra soil layers allow you to grow underground treefarms without irrigating large areas. The new underground trees and their various colors are nifty, I think.
I'll typically embark with no weaponry, four stones (like microcline), three pieces of wood, an anvil, and 4 bars of metal (copper, usually) to make picks and an axe with. I bring many different types of food in small quantities to maximize barrels, a few of each seed type for bags, and I'll sometimes grab sand for cheap bags if wood is abundant, and a couple dogs. Most of the rest is food and drink. Oh, and buckets, due to the requiring of mud for farms. Sometimes I'll bring a cat or two and a wooden cage to prevent the female from breeding too much. Alternatively to the copper, you can grab a training axe and cut trees down right away, though that is probably a bug, and probably considered cheating. Also, you may want to bring along leather or more metal to make armor for the woodcutter.
I typically give three dwarves skill in mining and growing, one getting ranks in cooking, another in brewing, and the last gets woodburning. One dwarf is a carpenter, woodcutter, and axedwarf, and I put him in the military, and he trains the dogs (though, I don't give him a rank in animal training). Usually he trains in his spare time, which is good. One is a mason who gets leatherworking (if I brought leather for leather armor), another a mechanic who gets leadership skills and a rank in architecture, one a weaponsmith and armorsmith, as well as a rank in furnace operating. You may consider giving one of the miners skill in healthcare or some such (maybe even bring healthcare supplies).
So, when starting, I first build a forge and a wood furnace, make charcoal, and forge three picks and an axe. Deconstruct the wagon if you need the wood. Build a barracks (so the woodcutter can train), enlist the woodcutter, have him train the dogs to war dogs, and continue from there. You should probably make a few medical supplies shortly if you expect conflicts (like in evil or savage biomes), especially if you didn't bring any.