I prefer fork + execlp for "more fine-grade" control as doron mentioned.
Example code shown below.
Store you command in a char array parameters, and malloc space for the result.
int fd[2];
pipe(fd);
if ( (childpid = fork() ) == -1){
fprintf(stderr, "FORK failed");
return 1;
} else if( childpid == 0) {
close(1);
dup2(fd[1], 1);
close(fd[0]);
execlp("/bin/sh","/bin/sh","-c",parameters,NULL);
}
wait(NULL);
read(fd[0], result, RESULT_SIZE);
printf("%s\n",result);