Create a virtual server.
In the public web directory:

wget https://github.com/adobo/agendav/releases/download/2.0.0/agendav-2.0.0.tar.gz
tar xf agendav-2.0.0.tar.gz
cd agendav-2.0.0/web
curl -s https://getcomposer.org/installer | php
php composer.phar install --prefer-dist --no-dev

Edit /etc/apache2/sites-available/cal.joel.co.in.conf:
Add at the end:

<Location />
   RewriteEngine On
   RewriteCond %{REQUEST_FILENAME} !-f
   RewriteRule ^ index.php [QSA,L]
</Location>

Modify DocumentRoot:

DocumentRoot /home/joel/domains/cal.joel.co.in/public_html/web/public

Create a mysql db and assign a user and password for it.
Set permissions (replace www-data with the virtualhost user):
chown -R www-data:www-data web/
chmod -R 750 web/var/

Edit file settings.php:

cd web/config/
cp default.settings.php settings.php
emacs settings.php

Now migrate databases:

cd /home/joel/domains/cal.joel.co.in/public_html
php agendavcli migrations:migrate

Now try going to the dav url.

Ref:
http://docs.agendav.org/en/stable/admin/installation/