Let X and Y be finite simplicial sets, both equipped with a free simplicial action of a finite group. Assuming that Y is d-connected and dimX less orequal to 2d, we provide an algorithm that computes the set of all equivariant homotopy classes of equivariant continuous maps between geometric realizations of X and Y. This yields the first algorithm for deciding topological embeddability of a k-dimensional finite simplicial complex into n-dimensional Euclidean space under certain conditions on k and n.