Enabling the OpenAid Contact module will provide a Contact webform. You can view the form at /contact or by bringing it up at admin/content.

Add the Contact form to a Menu

You can then add the form to the menu of your choice at /contact/edit

Customize the Form Elements

To edit the form elements on your Contact page, select the _Webform_ working tab.

For more information on customizing webforms, see the Webform module documentation page.