Original poster NycSmart1 was pulling a Google calendar into Zimbra (which I also saw problems with last year; since resolved at both ends, it seems).
SpEnTBoY and mkoistinen want to go the other way, pulling a Zimbra calendar into Google. Complicating things, they don't want to make their calendar public. So Google would have to authenticate to Zimbra.
As far as I've been able to determine, Google doesn't send authentication in external iCal URLs (the user%40company.com

assword@ bit), nor would Zimbra accept those parameters if sent. So you can only share your calendar to Google if it's configured to be completely public.
The RFE for Google would be to allow entry of basic auth credentials. The RFE for Zimbra would be to allow permanent preauthentication URLs like Google's.
Zimbra does have a single-signon API, but preauthentication is (quite reasonably) time-bound -- you can create a URL to get you into Zimbra without a password, but it includes a digitally signed timestamp making it good for only +/- 5 minutes.
It might be possible for you to do what you want with a level of indirection: write a PHP or CGI script that computes the single-signon token and redirects Google. Or, simpler, have that custom CGI fetch your calendar on Google's behalf.
It might be a better use of your time to look for something allowing iCal import to your device, without Google as the middleman. With Google in the middle, you're not getting bidirectional sync anyway. Unidirectional sync is a much simpler problem, for which there must be some more direct solution for you somewhere.