Hey Craig...
The below should help.
Given a standard embed code:
<script src="//app-sjqe.marketo.com/js/forms2/js/forms2.js"></script>
<form id="mktoForm_1001"></form>
<script>MktoForms2.loadForm("//app-sjqe.marketo.com", "128-IAV-911", 1032);</script>
Make changes to the above such that...
<script src="//app-sjqe.marketo.com/js/forms2/js/forms2.js"></script>
<div id="formPlaceholder"></div>
<form id="mktoForm_1032"></form>
<script>MktoForms2.loadForm("//app-sjqe.marketo.com", "128-IAV-911", 1032, function (form){
MktoForms2.$("#formPlaceholder").append(form.getFormElem());
});</script>
The changes to the original embed code are bolded above.
This changes the HTML snippet that you insert to not include a form tag and should solve the issues you're having.
You can change the name of the div id to something more palatable given context of your page.