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We solve Skorokhod's embedding problem for Brownian mostion with linear drift $(W_t + \kappa t)_{t\ge 0}$ by means of techniques of stochastic control theory. The search for a stopping time $T$ such that the law of $W_T + \kappa T$ coincides with a prescribed law $\mu$ processing the first moment is based on solutions of backward stochastic differential equations of quadratic type. Theis new approach generalizes an approach by Bass [BAS] of the classical version of Skorokhod's embedding problem using martingale representation techniques.