Okay, after messing around for quite a while, I got it to work!
I publish from iCal via the publish.ical.php link.
I have published a public calendar. Next I will try to publish private calendars.
Here is what I did...
I wanted my public calendars to be in a folder called "public-calendars" (I did NOT enable WebDAV on this folder)
I created my public-calendars folder at the top level of my website folder (although it can be anywhere in your website folder).
I expanded the phpicalendar-2.0b file I downloaded.
I put the contents of the phpicalendar-2.0b folder into my "public-calendars" folder
On my Mac, I opened iCal and created my public-calendar
I published the calendar using http://www.mydomain.com/public-calendars/calendar/publish.ical.php? (and entered my username and password)
I modified the config.inc.php in my public-calendars folder. Here are the important bits:
$cookie_uri = 'http://www.mydomain.com/public-calendars';
$download_uri = 'http://www.mydomain.com/public-calendars/calendars';
$default_path = 'http://www.mydomain.com/public-calendars';
$phpicalendar_publishing = '1'; (you need this if you are not using WebDAV)
There are other setting you may want to play around with, but the above variables are what you need to get up and running.
- To access my calendar I go to: http://www.mydomain.com/public-calendars/index.php
This should make it work. I'll be happy to try and help anyone who needs it, but like I said above, I am only a PHP novice.
FYI, I also deleted the other .ics files in the calendars folder (home.ics, work.ics, etc.) so there would not be any clutter.