The paper describes the development of an innovative robotic gripper. To increase grasping stability without using too much space or causing control complexity, a three-phalanx underactuated finger is embedded in the gripper. This research mainly focuses on the mechanical design, kinematic, and static analyses of the robotic gripper. The results obtained through both simulation and experiments show good correlation with the analytical results. The preliminary experimental grasping results demonstrate that this robotic gripper with an embedded finger can successfully perform various activities of daily living.