One vertex per element, one color per generator, with an edge from x to x·s.
(2,4)(5,6,9,8)(7,11,12,10)(13,14)(15,19)(16,17)(18,20)(1,2,3,4)(5,7,9,12)(6,10,8,11)(13,15)(14,19)(16,20)(17,18)(7,12)(10,11)(14,20)(15,17) involution — undirected(5,6,9,8)(7,11,12,10)(13,15,18,17)(14,19,20,16)(5,8,9,6)(7,10,12,11)(13,16)(14,15)(17,20)(18,19)(5,7)(6,11)(8,10)(9,12)(13,17,18,15)(14,16,20,19)A Cayley diagram is a choice, not a fact about the group. Another drawing of this group — in a book, or on a different generating set — may look nothing like this one.