To create a Contact Page you will need to go to the Pages area and create a new page. Title the page accordingly. Within the Page Attributes select the Page Template as Contact Form:

Once you’ve selected the following Page Template, you will be required to add your desired Contact Email(required). Other fields such as Phone Number, Thank You Message, etc. are optional.

You can also add a ‘Featured Image’ to the following page. This image will appear to right side of the contact form.

If you want to create a custom form, then you should check this article.