yeah you need the NDK, it offers an C/C++ compiler for Android.
In general the steps are all the same:
- Setting up the NDK (I wrote a small how-to, but it's for Arch-Linux and the fish-shell, Windows how-to)
- Adjusting your make file (instead of gcc compiler use Android NDK compiler, and so on)
- Remember that Android uses Bionic C library, so only use functions supported by it
- Run make, push the program to your device and make it executable
Of course, this is just an overview how it is done. You should try it and then ask specific questions if you run into troubles.