This is how you add a calendar / date picker to Joomla form.
add the following code to your
xx.html.php class
$document = &JFactory::getDocument();
$document->addScript("includes/js/joomla.javascript.js");
JHTML::_('behavior.calendar');
and add the following code to the default.php template file
All those codes above will have a calendar / date picker close to the input field.
Enjoy your coding.