This tutorial is a bit on the long side as it includes all the code for populating a small database with three tables and the C code to run a sql select query.
I've included the example code and sql to create the database and populate the tables. You'll need SQLiteSpy or you could run it from the sqlite3 utility which I also demonstrate how to use to import csv data.
I really like SQLite, it is small, fast and just works. The debug binary for this example which is built with SQLite embedded is just 773Kb.