Jerry,
There are several ways to do this.. The easiest of which is to grab the HTML code that SalesForce gives you when you set up the web-to-lead feature and toss it into the page which you want the form to appear.
Otherwise, if you use GravityForms (which I recommend using – it’s very easy to make website forms and add them to your pages or posts)… you can follow my “how to” for integrating WordPress GravityForm to SalesForce web-to-lead
Let me know if that helps ??