How to Sync iPhone Calendar to MacBook Pro Calendar

Hello,

I want to be able to sync my calendars betwwen my iPhone 4 and my MacBook Pro. It used to sync through Google (my email account) from my Mac to my iPhone and vice versa. But when iCloud came out, I had to change my settings on my iPhone because I was seeing multiple copies of the same event.

I want to sync my iPhone and Mac to each other through iCloud. I do not want to have to use iCloud.com to be able to see my calendar on my computer, I want to use iCal.

How do I sync my iPhone and Mac calendars without plugging my iPhone into iTunes?

Thank you in advance for your help.