If I understand your question properly, the template tag you'd want to use is Calendar:Cal
This tag allows you to display a chronological list of events with all occurrences. You can also check out the Getting Started documentation which explains the differences between each Calendar tag, used to achieve different things. :)
So, if you're making a Day view page you code might look something like this:
{exp:calendar:cal
pad_short_weeks="n"
{if segment_3 == ''}
date_range_start="today"
date_range_end="today"
{/if}
{if segment_3 != ''}
date_range_start="{segment_3}-{segment_4}-{segment_5}"
date_range_end="{segment_3}-{segment_4}-{segment_5}"
{/if}
}
{display_each_day}
<div class="header">
<div style="float: left; width: 20%;">
<a href="{path='calendar/day'}{prev_day format="%Y/%m/%d"}/">
Yesterday
</a>
</div>
<div style="float: left; width: 60%; text-align: center;">
<h1>{date format="%l, %F %d, %Y"} ({day_event_total} events)</h1>
</div>
<div style="float: right; text-align: right; width: 20%;">
<a href="{path='calendar/day'}{next_day format="%Y/%m/%d"}/">
Tomorrow
</a>
</div>
<br style="clear: both;" />
</div>
{display_each_hour}
<h2>
{date format="%g:%i %a"} ({hour_event_total} events)
</h2>
{events}
<div class="event">
<div class="head">
<h2>
<a href="{path='calendar/events'}{event_id}/">
{event_title}
</a>
</h2>
{if event_all_day}
<p>
{event_start_date format="%Y-%m-%d"}
{if event_end_date}
- {event_end_date format="%Y-%m-%d"}
{/if}
</p>
{if:else}
<p>
{event_start_date format="%Y-%m-%d %H:%i"}
{if event_end_date}
- {event_end_date format="%Y-%m-%d %H:%i"}
{/if}
</p>
<p>
This event lasts {event_duration_days} days
{event_duration_hours} hours
{event_duration_minutes} minutes.
</p>
{/if}
<p>
From calendar:
<a href="{path='calendar/calendars'}{event_calendar_id}/">
{event_calendar_title}
</a>
</p>
</div>
<div class="body">
<p>
Details: {event_summary}<br />
Location: {event_location}
</p>
</div>
</div>
{/events}
{/display_each_hour}
{/display_each_day}
{/exp:calendar:cal}