Tap the event - when it opens to display the details, there should be 3 items across the top: on the left, the date has a left-pointing arrow takes you back to the day, in the middle it says Event Details, on the right should be an Edit button. Tap this and scroll to the bottom of the event and tap the big red Delete Event button...
If it doesn't have an edit button it's in a subscribed calendar... stop the subscription...