Calendars with events can events can be shown on frontend in several ways:
Create a menu item. For this select the menu in "Menus" Joomla! menu on backend where the menu item will be added. Click by "New" button to create the menu item then use "Select" button near "Menu item type" parameter to select menu item. Select "CalendARI → Calendar" type in the appeared popup. After this use "Add calendar" button in "Calendar" parameter to select calendar(s). The video tutorial is below: