"Brute force approach," as @Dima mentioned , would look like this
%
for iCluster = 1:max(IDX)
%
currentPointIdx = find(IDX==iCluster);
%
%
%
%
[~,minIdx] = min(sum(bsxfun(@minus,X(currentPointIdx,:),C(iCluster,:)).^2,2));
%
closestIdx(iCluster) = currentPointIdx(minIdx);
end
, k,
X(closestIdx(k),:)