If you just want to import C4D models into AE, and have a version of AE with Cineware, check out these tutorials, or others like them:
https://greyscalegorilla.com/tutorials/importing-3d-models-into-after-effects-using-cineware/
or
https://www.youtube.com/watch?v=cjCa47OW2V0
While Cineware allows you to import C4D scene files with animation into AE, as far as I know the only way to do basic animation of C4D models inside of AE is to use Video Copilot’s Element 3D plug-in. You can use the OBJ parameters of plug-ins like Form or Plexus to import and animate OBJ files that you export from C4D, but in those cases you aren’t using the whole model, but only the points that make up the vertices.