You can display the "public view" of the form and capture the full URL in the address bar of the browser when the page is displayed.
 
The URL to take forms would be:
 
https://applications.digitalmailer.com/DMI/ARBPlus/Applications/Forms/TakeForm.aspx?fid={Form ID}

Where the Form ID is found and can be copied from the Secure Form Management Administration page:



The full URL to take the form is also included in any invitation sent to take the form.