I've struggled with form components in the past. Fed up with the last one I used, I checked out RSForm Pro. While I try to avoid paid components, in this case it is well worth the fee (which isn't huge, by any means). I had a contact form up and running inside 10 minutes with minimal changes required. This is soooo much nicer than the old form component I used that I'm going through and installing it retrospectively on all my previous sites, not just the new ones.
I really don't think you'll find anything better than this!