I've just figured this out and am posting here in hope it's useful.
Unfortunately, Google doesn't provide these instructions in ONE
convenient location (hint hint).
To set up your Google calendars in Lightning using CalDAV:
1. Go to your online Google Calendar, select "Settings / Calendars /
Share This Calendar", then enter the Google Mail e-mail address of the
person you want to share your calendar with (I think they must also
have a Google Calendar account).
2. Create a new "network" calendar in Mozilla Calendar, select
"CalDAV", Location =
https://www.google.com/calendar/dav/CALENDAR-ID/events
(the ID includes the @
gmail.com). Google's Calendar ID is shown here:
http://www.google.com/calendar/render then: Settings / Calendars /
click on the calendar's name / scroll down to "Calendar Address". (NB:
When a user has multiple shared Google calendars, Google will assign
each calendar a new "Calendar ID". The calendar ID of the *first*
calendar you create is always
YourGM...@gmail.com).
3. When signing-in to any shared calendar from Mozilla calendar, use
YOUR Google username. In the dialog, use your FULL Google e-mail
address (incl. @...).
4. If you don't have write access to the shared calendar (from step
1), go to the "Properties" of the Mozilla Calendar (by double-clicking
on the calendar) and select "Read Only".
Full instructions here:
http://www.google.com/support/calendar/bin/answer.py?answer=99358#sunbird
NOTE: If you are referring to an account created in Germany, you must
use @GoogleMail.com and not @GMail.com.