neilyj (No connection with Autodesk other than using the products in the real world)
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Once you have the surface data in a shapefile, you can easily import it into C3D by clicking the dropdown next to surfaces on the home tab. Be advised, that if you are importing large amounts of Lidar data, that your surface will be quite large.
The only way I'm aware of to maintain the existing triangles is to export using the UNGENERATETIN NET option, then process that file manually (entering coordinates and drawing faces) or import it directly into a Civil3D TinSurface with a gizmo like this.