Caldav installieren wie?

Hi, I need your help. I would like to connect my iCloud calendar to HA. But you musst to install CalDav - CalDAV - Home Assistant before. HACS doesn’t have this extension so I’ll probably have to install it manually.
But I have no idea how to proceed. Can someone show me a way for beginners?
That with the yaml config. I get in but first the CalDav package has to be installed somehow.? Many Thanks!!!

English only please.