I use Xerces. It was fairly easy to get started with, with (IIRC) useful examples.
If you can, I'd recommend finding a parser generator however, it's so much easier to work with something like JAXB instead of SAX/DOM.
I need a pure C lib however, and haven't found one such. I would take a close look at this:
http://www.codesynthesis.com/products/xsd/ if I had the C++ choice.
Potentially because I've been lazy with reading documentation, I've found myself writing a number of helper functions around the data parsing in Xerces.
This doesn't feel very good, as I kinda "fight" the lib, but it could very well be that Xerces provides methods for what I want, I just haven't found them.
The helpers functions do things like hide the transcoding, convert strings to floats and such.