The expectation-maximization (EM) algorithm is a powerful computational technique for locating maxima of functions. It is widely used in statistics for maximum likelihood or maximum a posteriori estimation in incomplete data models. In certain situations, however, this method is not applicable because the expectation step cannot be performed in closed form. To deal with these problems, a novel method is introduced, the stochastic approximation EM (SAEM), which replaces the expectation step of the EM algorithm by one iteration of a stochastic approximation procedure. The convergence of the SAEM algorithm is established under conditions that are applicable to many practical situations. Moreover, it is proved that, under mild additional conditions, the attractive stationary points of the SAEM algorithm correspond to the local maxima of the function presented to support our findings.