From OurCal's Groups view (tap the 👥 Groups button in the top right of the calendar):
Newly invited members just need to follow your invite link and tap "Join Group" — they'll be guided through downloading OurCal and creating an account.
Once joined they will be a member of your group with access to all shared calendars, plus a private calendar of their own.
They'll also have the ability to create additional calendars for the group, add events, and send messages.