You have to click on the friend tab where the chat is on Live Chess. If you are friends with your friend and he/she is online, he/she should be listed there. If he/she is idle, there should be a "Play" that you can click somewhere to the right of the friend's name. Options for time controls, etc. should pop-up, and the rest should be easy.
Challenging a friend to a live game?
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How does one issue a challenge for a live game, to a friend on chess.com? Like challenging to an OTB game, but live?