A sample has been provided here using ADXL345: ArduinoCore-Demo.
Let's assume the structure of your application for simplicity to be,
├── blinky_arduino
│ ├── CMakeLists.txt
│ ├── prj.conf
│ ├── README.rst
│ └── src
│ └── main.cpp
Paste your library's source files like ADXL345.h and ADXL345.cpp in your project's src folder.
As we can see, there is a Top-level CMakelists which needs to be updated with your external library's source files.
For example, we add target_sources(app PRIVATE src/ADXL345.cpp) to CMakeLists.txt.
Finally, paste your required code using the library in main.c and include that library's header using
#include "ADXL345.h"