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.