You need to use any language like PHP or ASP and server support php for example . and then you can to do that.

Go to freedback.com or emailmeform.com ; It will be better if you go to emailmeform.com, because it allows you to make many forms, but freedback allows you to make only on form. After you have made your form, there will be an option for getting the html code. Copy and paste it on your website, and you’re done. My website is misscyrus.com, contact me there, if you need any other help. All the best!

If you don’t mind revealing your address and getting spammed…You can do it without any server script

Name:
E-mail address:
Comment:

Otherwise, you can consult your provider to find out if they have premade forms for your use which do not reveal your address and are somewhat spam free.