As embedded system has strict cost and space constraints, it is impossible to apply conventional fault-tolerant techniques directly for increasing the dependability of embedded system. In this paper, we propose software fault-tolerant mechanism which requires only minimum redundancy of system component. We define an utility metric that reflects the dependability of each embedded system component, and then measure the defined utility of each reconfiguration combinations to provide fault tolerance. The proposed utility evaluation process shows exponential complexity. However we reduce the complexity by hierachical subgrouping at the software level of each component. When some components of embedded system are tailed, reconfiguration operation changes the system state from current faulty state to pre-calculated one which has maximum utility combination.