This paper presents a self-testing and calibration method for the embedded successive approximation register (SAR) analog-to-digital converter (ADC). We first propose a low cost design-for-test (DfT) technique which tests a SAR ADC by characterizing its digital-to-analog converter (DAC) capacitor array. Utilizing DAC major carrier transition testing, the required analog measurement range is just 4 LSBs; this significantly lowers the test circuitry complexity. Then, we develop a fully-digital missing code calibration technique that utilizes the proposed testing scheme to collect the required calibration information. Simulation results are presented to validate the proposed technique.