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Copy the URL of the Google Calendar you want to add
Open your iPhone's Settings
Scroll down and select Mail, Contacts, Calendars
Select Add Account and then Other
Select Add Subscribed Calendar
Enter the Google Calendar URL https://calendar.google.com/calendar/ical/c_hisj19pte3qdllvd32jgpv8nok%40group.calendar.google.com/public/basic.ics in the Server box and click Next
Make any desired changes to the settings before saving the calendar.