Carnot rectifiability of sub-Riemannian manifolds with constant tangent

We show that if $M$ is a sub-Riemannian manifold and $N$ Carnot group such the nilpotentization of at almost every point isomorphic to $N$, then there are subsets positive measure embed into by bilipschitz maps. Furthermore, countably $N$--rectifiable, i.e., all except for null set can be covered many