How do I sync iCloud calendar with iCal on my desktop?

Go to System Preferences>iCloud, sign in with your iCoud ID and check Calendars. This requires OS X 10.7.5 or higher.

I have the same issue. Running 10.9.2. All apps checked in Sys Pref, including Calendars. Events show in icloud calendar, but not ical. Any help appreciated.

10.9.2 does not have iCal, try using Calendar.

Yeah, you're right. Keep forgetting. Meant to say Calendar. Same issue though.

Sign out of iCloud (System Preferences) restart your Mac and sign in, post back, there may be more steps.

You will be asked whether or not to delete local data, select delete, your data will still be in iCloud and will be restored when signing in)