If you've never used the C4D to AE exchange, there's a good chance you don't have the correct plugins installed yet. The following instructions are for a Mac OS machine with programs installed at their default locations.
Find the C4D Composition Import plugin for After Effects
- Download and unzip the appropriate AE plugin from the Maxon website.
- Uncompress the .zip file
- Inside you should find two .plugin files: C4DExporter.plugin and Cinema4DAE.plugin
- Select them both and copy them (cmd + c)
- Open Finder
- Navigate to your AE Format Plugins Folder
- System Drive > Applications > Adobe After Effects CS6 > Plug-Ins > Format
- Paste the plugins to install them (cmd + v)
- If AE is currently open, restart AE. If not, open AE.