The initial_layout parameter needs to have the same size as the circuit to transpile. Otherwise LayoutError: 'Integer list length must equal number of qubits in circuit.'
Therefore, you should not specify the ancilla qubit but only the qubits in your circuit:
from qiskit import QuantumCircuit
circuit = QuantumCircuit(4)
circuit.cx(0, [1,2,3])
circuit.draw()
q_0: ──■────■────■──
┌─┴─┐ │ │
q_1: ┤ X ├──┼────┼──
└───┘┌─┴─┐ │
q_2: ─────┤ X ├──┼──
└───┘┌─┴─┐
q_3: ──────────┤ X ├
└───┘
In this case, the circuit has 4 qubits. To lay
$q_0 \mapsto 4$,
$q_1 \mapsto 0$,
$q_2 \mapsto 2$, and
$q_3 \mapsto 3$, you can set initial_layout with the codomain of that mapping: initial_layout=[4,0,2,3].
from qiskit import transpile
from qiskit.transpiler import CouplingMap
transpiled_circuit = transpile(circuit,
coupling_map=CouplingMap([(0,1),(1,2),(2,3),(3,4)]),
initial_layout=[4,0,2,3])
transpiled_circuit.draw()
q_1 -> 0 ─X──────────────────────────────────────────────
│
ancilla_0 -> 1 ─X───X───────────────────X──────────────────────
│ ┌───┐ ┌───┐ │ ┌───┐ ┌───┐
q_2 -> 2 ─────X──┤ H ├──■──┤ H ├──X──┤ H ├──■──┤ H ├─────
┌───┐└───┘┌─┴─┐├───┤┌───┐└───┘┌─┴─┐├───┤
q_3 -> 3 ─X─┤ H ├─────┤ X ├┤ H ├┤ H ├─────┤ X ├┤ H ├──■──
│ └───┘ └───┘└───┘└───┘ └───┘└───┘┌─┴─┐
q_0 -> 4 ─X─────────────────────────────────────────┤ X ├
└───┘