How can I change the height of a form so that when I embed it on my website, it does not require user to scroll to see entire form?

The height for a form is calculated automatically based on the fields that it has.

If you do not want the form to be too long, I would suggest you to add a page break so your users will not have to scroll down in order to get the fields, here is a guide that will help you to make your form like that: How-to-Create-Multi-Page-Forms

However, you may also share us the link to the webpage where your form is embedded on, so we can check it. 

http://www.newburgtennis.usta.com/Membership/NTA_Membership_Fees/ 

It may be an issue with our CMS- but see link above for example

Thank you for sharing us the link.

Upon checking the webpage I can see you're using the iFrame embed option and indeed the form has the correct height value and it is displaying fine, the issue seems to be with an iFrame that you have in your website, currently it has a height of 100% and it is not showing completely, please see my screenshot below: 

So I would suggest you to check the iFrame in your website (not JotForm iFrame) and ensure you're setting it the correct height value, so your form should start to show completely as soon as you fix the height of your iFrame. 

Please let us know how it goes. 

You were correct, the iFrame was set incorrectly and we were able to fix the issue and bring attention to the CMS because it was a setting within their system that needed to be fixed (from what I could gather). Thank you for your prompt and helpful response!!

On behalf of my colleague, you are welcome! Open a new thread if you need anything else, we will be glad to assist you.