As Ghanshyam said, you can install a plugin like https://wordpress.org/plugins/contact-form-7/. Moreover, you also can create a contact form easily via your WP dashboard.
1. Add a Custom Form on the new post page
2. Then custom the form according to your preference and click Add this Form to Post after you entered all the fields like name, email, website, comments or much more.
3. After this, you will see the form is transformed to a shortcode.
4. After publishing your post, the shortcode will become a contact form. Then, your visitors will be able to contact you by logging in.