Underlay device-to-device (D2D) communication is envisaged to improve the spectral efficiency in cellular networks. One main challenge in this technology is how to control transmit powers from D2D pairs in order to preserve a certain quality of service requirement for cellular users. To address this challenge, this paper proposes a price-based power control game, by which transmit power of D2D pairs is so adjusted that a given transmit rate for a cellular user is satisfied. Numerical results are conducted to evaluate the performance of the proposed scheme.