In Chili Piper, navigate to Inbound Concierge | Router and select "Edit" on your Concierge. Scroll to the bottom and copy your embed code:
You will need to add this code in two places:
1. Below your form in Pardot
Navigate to your form in Pardot, under "Look and Feel" -> Below Form tab and the embed like in the below screenshot
2. In the Thank you code
Navigate to your form -> Completion Actions -> Thank you code and add your embed like in the screenshot below.
Note that the function is slightly different and instead of ChiliPiper.scheduling it is ChiliPiper.showCalendar. You'll have to make this change by hand.