The scenario of an emergent universe provides a promising resolution to the big bang singularity in universes with positive or negative spatial curvature. It however remains unclear whether the scenario can be successfully implemented in a spatially flat universe which seems to be favored by present cosmological observations. In this paper, we study the stability of Einstein static state solutions in a spatially flat Shtanov-Sahni braneworld scenario. With a negative dark radiation term included and assuming a scalar field as the only matter energy component, we find that the universe can stay at an Einstein static state past eternally and then evolve to an inflation phase naturally as the scalar field climbs up its potential slowly. In addition, we also propose a concrete potential of the scalar field that realizes this scenario.