If you do not have access to CINEMA 4D software, your only option would be to use some of the 3rd party conversion utilities, such as PolyTrans|CAD+DCC to convert your Collada 3D graphics to C4D format. Both of these formats are proprietary, so your options in this case for dae to c4d conversion are somewhat limited.
Convert Collada 3D digital asset exchange data to CINEMA 4D file format.
We have found one software suitable in our database for this conversion.
Microsoft Windows software - convert dae to c4d on Windows
A software suite used for 3D CAD/DCC + Animation/Model/NURBS/Skinning translation, optimization and viewing.
Convert from dae file
to c4d file
The table with program actions contains information about what each program is capable of doing with their files. This may be a good pointer for further searches for certain file conversions and help you find the converter you are looking for if our search result is insufficient for you. However, it is far from perfect and may sometimes show results which are not really usable because of the nature of the software handles the files. So a conversion that appears as possible, just because of matched actions, may in fact not be possible.