Navigate to Forms and click on the settings icon under the action section.

A panel will open to Create a Deal Card in Pipeline Settings.

Here, if you enable the create deal card option, you will get two more options to map deal card items and map contact items. Enable these fields and click on save.

So, you can see and map the contact items of the form to the deal card item. When the deal card is created, it will have all the fields mapped to the card . 

When a deal card is created it will create a contact with the fields that are mapped in the form setting.