To install gRPC on your system, follow the instructions to build from source here. This also installs the protocol buffer compiler protoc (if you don't have it already), and the C++ gRPC plugin for protoc.
Here's how to build and run the C++ implementation of the Hello World example used in Getting started.
The client implementation is at greeter_client.cc.
The server implementation is at greeter_server.cc.
Build client and server:
$ make
Run the server, which will listen on port 50051:
$ ./greeter_server
Run the client (in a different terminal):
$ ./greeter_client
If things go smoothly, you will see the "Greeter received: Hello world" in the client side output.
You can find a more detailed tutorial in gRPC Basics: C++