Rather than have a contact page you might just want to link to your contact email so visitors can get in touch with your directly.
To add your contact email in the footer as a link, head to Navigation on the left-hand side of the platform, then Footer. On the right-hand side select Custom URL.
The title field is what the hyperlink will be called, an example could be "Contact Us". In the URL section, you will need the mailto: hyperlink and your chosen email. For example mailto:firstname.lastname@example.org. Press Add and the link will be added to your Footer menu!
Remember that Roam caches your site's navigation every 24 hours so check back tomorrow to see the change or add ?abc123 to the end of any URL on your site and you can bypass cache and test your change on your browser straight away!