Contact for on every page

I have a website that requires a contact form in the footer of every page. Using Grav's form system, what's the best way to go about this? Thanks in advance.

I would just put that form in a footer.html.twig file and include it from the base twig file so that it displays on every page.

Where would I put the form configuration options? The documentation has us rename a page as form.md and put the configuration in there.

Currently the Form plugin requires the form parameters to be in the page header, so you cannot add the form to the entire site at once. You can use the https://github.com/nunopress/grav-plugin-simple_contact plugin instead.