Using the Google Map shortcode, you should be able to create a map like the one below. All you need to do is specify the address or longitude/latitude coordinates of your location, your desired width and height of the map, and you’re all set!
Using the Contact shortcode, you can easily generate a contact form like the one below. Once this form is submitted, the data will be sent to your email (specified in your WordPress admin settings). This is AJAX-powered so the page does not need to reload. It has a built-in captcha to prevent getting spammed.