Revit can not import PDF files directly.
Inserting or linking an AutoCAD file containing a PDF does not bring the PDF into Revit.
But PDFs can be converted to DWG or DXF files using other software.
DO YOU REALLY, REALLY NEED TO IMPORT A PDF?
Sometimes converting works easily, other times it becomes a painful time waster.
PDFs not created in AutoCAD (or Revit) can cause problems.
Large PDFs may take quite a while to convert, and even then may not convert at all.
Because small discrepancies turn into big discrepancies when up scaling there will be inaccuracies in the imported file. If absolute accuracy is required don't rely on a converted PDF.
If it is at all possible ask for the orginal DWG file.
If the PDF is from a consultant definitely ask them for a DWG file, they should be providing them anyway.
THE PROCESS
Crop the PDF as much as possible in your PDF viewer (e.g. Acrobat or Bluebeam).
Convert the PDF to DXF or DWG (it doesn't matter which) using one of the methods below.
Use the Link CAD command in Revit to import it. (Don't use Import CAD command unless you have a really good reason - it will bloat the Revit file).
Always bring them in Center to Center, units millimeters.
PDFs are drawings done to a scale (e.g. 1:100). When you bring them into Revit you will need to use the Scale command to enlarge them to be 1:1. Take a measurement to ensure it is accurate.
ON-LINE CONVERTERS
On-Line converters that are free. Most email the converted file to you so results are not instant.
Cometdocs
Free document management system with conversion facility. Also has a desktop (installed) version.
Can only do one document at a time. Emails a link fairly quickly.
Limited to 3 files until you register (which is free, then limited to a certain number per week).
Failed on 5.7Mb PDF, worked on 4.8Mb PDF, but generally quick.
http://www.cometdocs.com/file/manager
AutoDWG
Limited to 2Mb file and one file per day.
Able2Extract
Only works on PDFs created from AutoCAD. Takes 30 minutes.
PDF EDITING SOFTWARE
Programs that edit PDF files may also be able to save as DXF. One advantage is you can edit the PDF before converting it.
Inkscape
Open source vector editing software. Can save as DXF.
May not work on large files, and can take quite a long time.
Failed on import to Revit (file had nothing in it).
Illustrator
Adobe software.
Not tested.
DEDICATED SOFTWARE
There are some trial versions of software that allow a limited number of conversions:
Aide PDF to DXF
Converts to DWG as well. Allows 20 conversions.
Scan 2 CAD
14 day trial.
http://www.scan2cad.com/pdf-to-dxf-cad/
AnyDWG
Trial. Allows 30 conversions.
http://anydwg.com/pdf-to-dxf.html
VeryPDF