Generally startups are done from shell scripts that would call your C++ program which would then do its double fork. Note that it should also close unneeded file descriptors, use setsid() and possibly setpgid/setpgrp (I can't remember if these apply to Linux too), possibly chdir("/"), etc. There are a number of fairly normal things to do which are described in the Stevens book - for more info see http://software.clapper.org/daemonize/daemonize.html
If the daemon is supposed to run with root or other system user account, then the system /etc/init/ or /etc/init.d/ mechanisms are appropriate places to have scripts to stop|start|status|etc your daemon.
If the deamon is supposed to be for the user, and run under his/her account, you have a couple of options.
1) the .desktop file - I'm not personally a fan, but if it also does something for you on logging out (like let you trigger shutting down your daemon), it might be viable.
2) For console logins, the ~/.bash_login and ~/.bash_logout - you can have these run commands supported by your daemon's wrapper to start it and (later) shut it down. The latter can be done by saving the PID in a file or having the .bash_login keep it in a variable the .bash_logout will use later. This may involve some tweaking to make sure the two scripts get run, once each, by the outermost login shell only (normal .bashrc stuff stays in the .bashrc, and .bash_login would need to read it in for the login shell before starting the daemon, so the PATH and so on would be set up by then).
3) For graphic environments, you'd need to find the wrapper script from which things like your X window manager are run. I'm using lightdm, and at some point /etc/X11/Xsession.d/40x11-common_xsessionrc ends up running my ~/.xsessionrc which gives me a hook to startup anything I want (I have it run my ~/.xinitrc which runs my window manager and everything), as well as the place to shot everything down later. The lack of standardization for giving control to the user makes finding the hook pretty annoying, since just using a different login manager (e.g. lightdm versus gdb) can change where the hook is.
4) A completely different approach is to just have the user's crontab start up the daemon. Run "man 5 crontab" and look for the special @reboot option to have tasks run at boot. I haven't used it myself - there's a chance it's root restricted, but it's easy to test and you need only contemplate having your daemon exist gracefully (and quickly) at system shutdown when the system sends it a SIGTERM signal (see /etc/init.d/sendsigs for details).
Hope something from that helps.
exec()is the only intended way of doing it. - Alfe