Here is how you do it:
Configure the Document Template and Email delivery in Docupilot. See building document templates and email delivery in the below links.
You then need to set up Zapier - https://zapier.com/apps/docupilot/integrations/google-forms
A trigger to look for Google Form submission responses.
An action to send the submission response to Docupilot to create the document from template. Choose the correct document template, template variables will be listed, map the fields with the response from the trigger.
Finally, turn on the Zap.