Starting with iOS 8, applications can embed live 3D models directly. There are some limitations:
If any of these limitations are a deal-breaker, then the best answer is to use application linking, as described here.
But if these work for your app, the process of embedding is quite simple. Follow the instructions in the PDF attached to this article for embedding on a web site. Except instead of putting the IFRAME into a web site, you will put the IFRAME into a HTML page that you show in a UIWebView or WKWebVIew control within your application.
That's all there is to it. The embedded IFRAME will get the latest version of the 3D model, and use WebGL technology to display it interactively.