There has been recent interest in the study of shortest self-orthogonal embeddings of binary linear codes, since many such codes are optimal self-orthogonal codes. Several authors have studied the length of a shortest self-orthogonal embedding of a given binary code $\mathcal C$, or equivalently, the minimum number of columns that must be added to a generator matrix of $\mathcal C$ to form a generator matrix of a self-orthogonal code. In this paper, we use properties of the hull of a linear code to determine the length of a shortest self-orthogonal embedding of any binary linear code. We focus on the examples of Hamming codes and Reed-Muller codes. We show that a shortest self-orthogonal embedding of a binary Hamming code is self-dual, and propose two algorithms to construct self-dual codes from Hamming codes $\mathcal H_r$. Using these algorithms, we construct a self-dual $[22, 11, 6]$ code, called the shortened Golay code, from the binary $[15, 11, 3]$ Hamming code $\mathcal H_4$, and construct a self-dual $[52, 26, 8]$ code from the binary $[31, 26, 3]$ Hamming code $\mathcal H_5$. We use shortest SO embeddings of linear codes to obtain many inequivalent optimal self-orthogonal codes of dimension $7$ and $8$ for several lengths. Four of the codes of dimension $8$ that we construct are codes with new parameters such as $[91, 8, 42],\, [98, 8, 46],\,[114, 8, 54]$, and $[191, 8, 94]$.

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