First, you need a working C / C++ compiler (preferably the same compiler that was used to build your perl binary).
Then, if your header files are really simple, you might try h2xs to automatically convert header routines to XS code. h2xs is part of your standard perl install. XS code is a sort of C dialect with extra macros and syntactic sugar in which you can specify the calling conventions for subroutines than can then be called from perl.
Usually, though, you will need to write the XS code by hand. Take a look at the following manpages: perlapi perlxs, perlintern, perlguts, perlcall and perlembed.
Also useful are the "Advanced Perl Programming" and "Extending and Embedding Perl" books, and PerlGuts Illustrated.
Oh, and before I forget - you might want to take a look at Inline::C and its relatives. They can make it a lot easier to start experimenting with C / XS / Perl programming
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