Following are the steps to enable, configure and adding Contact us form:
Enabling Contact module:
Login to Admin and click on "Modules" link from the top admin menu you will see below screen. Check the Contact module and save configuration button at the bottom. By checking you made it available to use in your application.
[caption id="attachment_743" align="alignnone" width="300"] drupal-contact-module[/caption]
Now need to set some permissions for the module. Just click to "People" link from admin menu, you will see "Permissions" tab click on it. Scroll down to "Contact" and update the setting as below:
[caption id="attachment_744" align="alignnone" width="300"] drupal-contact-permission[/caption]
Configuring Contact us:
Once you enable module it start appearing in structure. Now just click "Structure" from the admin top menu and click "Contact form". You will land to page where you can create/modify/delete category for your contact us form.
[caption id="attachment_745" align="alignnone" width="300"] drupal-contact-structure[/caption]
If you want you can add category for your form.
Adding link to Contact form:
Once you enable and set the permission to the contact module, you are able to access directly as "/contact" (www.yourdomain.com/contact). Now if you want to add it to the menu, just go to structure and select menu to add you contact link.