To start off, you'll need an account with Remember the Milk. It only takes a minute or so to set up an account, and it's free. Log on to your RTM account, and then head over to this page.
You'll notice a Google Calendar button on the right of the page. Click that button. Google Calendar will load in a new browser tab or window (depending on the Web browser that you are using). If you haven't already done so, log on to Google Calendar. Once you've logged in, you'll be asked whether or not you want to subscribe to an external calendar. This isn't an error; Google treats RTM like another calendar. Click OK.

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You'll notice two things. First, on the left side of the Google Calendar page a list titled Other calendars appears with the RTM calender in the list. If you want to change the name of the calendar to, for example, My Tasks, just click Settings. You can change the name of this calendar on the settings page.
Second, you'll see check marks below each day on your calendar. You click those check marks to view your tasks for that day.