There are a couple ways to do what you want to do. First, open the form in browser view (click New - New Document in the library where you published your form) and grab the URL out of the address bar and copy it. It will be long - that's ok. Just make sure you grab it all. Next, you have a few options, depending on how you want to display this.
1. Add that link to a links web part or to a Summary Links Web part (if you add it to a summary links web part, you can choose to have it open in a new window.)
2. On the site, click Edit Page and add a Page Viewer Web part. Where it asks you to add the URL, click and add that URL of the browser form. Then Click OK. Depending on the length of your form, you may need to resize the web part until you get it just right. Also, you will want to rename that web part. Your users will now see the form in the Page Viewer Web Part when they access the page - no need to click a link.
3. If you really want to get creative, you may add a page to your site (Site Actions, create Page). For the Page Layout, choose Blank Web Part Page. You can add a Page viewer web part here and add your link (same as with Option #2) but now your users can see the page with your form as part of the navigation.
Hope that helps!