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iCal supports CalDAV principal concept, and the URL to use is simply

You must not append anything after the servername when using iCal

Using the supplied username and password it can discover the user's calendar

Sync Services provides a powerful and extensible mechanism that enables data to move seamlessly between multiple Macs, devices such as mobiles phones and PDAs, and network services. This ability has long been a part of Mac OS X , through iSync and .Mac, which could manage contacts, calendar items, and bookmarks. Now in Mac OS X v10.4 Tiger, any Mac OS X application can tap into this functionality to sync any kind of data reliably, frequently, and easily.