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Mar 21, 2013 at 21:57 comment added Misha Note that both implicit function theorem and, hence, constant rank theorem, work without reduction in smoothness. Therefore, in OP's case, $S$ is locally a graph of a $C^2$-function and, hence, obviously contains $C^2$-curves tangent to every tangent vector. This (implicit function theorem) is undergraduate level material or 1-st year graduate material depending on the country. All in all, the question is not suitable for MO, math.stackexchange would be the right place. Voting to close.
Mar 21, 2013 at 20:02 comment added Ryan Budney I think the OP suggested $H$ is just $C^2$. So the pre-image will only be $C^2$.
Mar 21, 2013 at 19:55 history answered Peter Michor CC BY-SA 3.0