  We calculate the vector form factor in K \to \pi l \nu semileptonic decays at
zero momentum transfer f_+(0) from numerical simulations of two-flavor QCD on
the lattice. Our simulations are carried out on 16^3 \times 32 at a lattice
spacing of a \simeq 0.12 fm using a combination of the DBW2 gauge and the
domain-wall quark actions, which possesses excellent chiral symmetry even at
finite lattice spacings. The size of fifth dimension is set to L_s=12, which
leads to a residual quark mass of a few MeV. Through a set of double ratios of
correlation functions, the form factor calculated on the lattice is accurately
interpolated to zero momentum transfer, and then is extrapolated to the
physical quark mass. We obtain f_+(0)=0.968(9)(6), where the first error is
statistical and the second is the systematic error due to the chiral
extrapolation. Previous estimates based on a phenomenological model and chiral
perturbation theory are consistent with our result. Combining with an average
of the decay rate from recent experiments, our estimate of f_+(0) leads to the
Cabibbo-Kobayashi-Maskawa (CKM) matrix element |V_{us}|=0.2245(27), which is
consistent with CKM unitarity. These estimates of f_+(0) and |V_{us}| are
subject to systematic uncertainties due to the finite lattice spacing and
quenching of strange quarks, though nice consistency in f_+(0) with previous
lattice calculations suggests that these errors are not large.
