ZenCart and Cubecart would be your 2 best options.
Bear in mind that when you use a cart such as the ones you mentioned, they are a site in itself.
Most carts, aside from the product pages and categories already have built-in pages, such as Contact Us, About Us, etc.
So, it could be just a matter of dropping the content into those pages.
Being able to carry the shopping cart contents from the cart to your existing pages and back without losing it, will be a bit tricky and require some code in those pages in order to keep the session.
You can modify htaccess (if your host supports it), so that your html pages can be read as php.
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