PHPiCalendar

PHP iCalendar
PHP iCalendar is a simple read-only php calendar that supports .ics files.

Explicite support of DAViCal is not mentionned, but you can use the calendars with this syntax in config.inc.php :

$list_webcals = array(	'http://login:password@your.davical.server/caldav.php/name/calendar1',       'http://login:password@your.davical.server/caldav.php/name/calendar2',        'http://login:password@your.davical.server/caldav.php/name/calendar3' );

It can take a loong time to display calendars, so use the flag save_parsed_cals = yes in default_config.php to get it shorter.

Another solution is to create a script with cron that cURL's the calendars from DAViCal to the directory where PHP iCalendar reads to get (normally calendars/). In a shell script this could look like:
 * 1) !/bin/sh

curl -u user:password http://your.davical.server/caldav.php/name/calendar1 -o /path/to/phpicalendar/calendars/calendar1.ics");