Go to WP Menu => Appearance => Go to Customize -> Page Template -> Contact Page -> Map Section
Here You can see hide/show setting for map section.
And as you can see in given below image paste your map link in given textarea to display map on section.
After making changes click to publish.
Go to WP Menu => Appearance => Go to Customize -> Page Template -> Contact Page -> Map Section
And as you can see in given below image you can change title,, description and image/icon type.
After making changes click to publish.
