We report the three-dimensional mapping of 150 nm gold metallic nanoparticles dispersed in a homogeneous transparent polyacrylamide matrix using second-harmonic generation. We demonstrate that the position of single nanoparticles can be well defined using only one incident fundamental beam and the harmonic photon detection performed at right angle. The fundamental laser beam properties are determined using its spatial autocorrelation function and used to prove that single nanoparticles are observed. Polarization resolved measurements are also performed allowing for a clear separation of the second-harmonic response of the single gold metallic nanoparticles from that of aggregates of such nanoparticles.