As others have said, the listings
package will probably do what you want using something like the following:
\lstset{
language=C, % choose the language of the code
numbers=left, % where to put the line-numbers
stepnumber=1, % the step between two line-numbers.
numbersep=5pt, % how far the line-numbers are from the code
backgroundcolor=\color{white}, % choose the background color. You must add \usepackage{color}
showspaces=false, % show spaces adding particular underscores
showstringspaces=false, % underline spaces within strings
showtabs=false, % show tabs within strings adding particular underscores
tabsize=2, % sets default tabsize to 2 spaces
captionpos=b, % sets the caption-position to bottom
breaklines=true, % sets automatic line breaking
breakatwhitespace=true, % sets if automatic breaks should only happen at whitespace
title=\lstname, % show the filename of files included with \lstinputlisting;
}
\lstinputlisting{HelloWorld.c}
A more powerful alternative would be to use the minted
package, although this will do much more than what you're currently asking, as it uses/requires pygments to be installed on your system so that it can fully tokenize the code you give it.