There are several approaches:
1) PInvoke to your C dlls
2) Use the C source code and write managed C++ wrapper assemblies around the code.

PInvoke to the existing dlls is by far the simplest approach providing the dll function signatures are somewhat standard. See PInvoke.net for more help.

Note: If you pinvoke to the existing dlls, unlike in C/C++ you don't need to use the header files.