Let me take you on a journey. We'll pass by Drupal content renderer services, AJAX commands, javascript libraries and a popular front-end framework. If you've only heard of one or two of those things, come lean on the experience I took diving deep into Drupal. I'm pleased with where my adventure took me to, and maybe what I learned will be useful to you too. Here's the end result: a contact form, launched from a...
Drupal 7 ships with a module called 'Overlay', it is installed by the standard install profile and actually is pretty great for most people. If you don't know what I'm talking about then, it's this: 
It's basically a nice wrapper around the [jQueryUI Dialog component][jquery_ui_dialog] and has some nice features, like keeping the URL fragment up to date with the page being viewed in the overlay. This means you can create a link that...