Mozilla’s SpiderMonkey is fairly easy and well-documented. It’s a C API, but it’s straightforward to wrap it in C++. It can be compiled to be thread-safe, which is useful for games since you’d likely want to have your main logic in one thread and user interface logic in a second thread.
Google’s V8 might be a good choice, since you’re using C++, but I have no experience with it yet. According to the documentation (thanks to Daniel James), V8 is not thread-safe, although this may change in the future.
There’s also WebKit’s SquirrelFish, but I couldn’t find a standalone version of that when I was looking earlier.