INA219 is a power monitor which is able to measure both bus voltage and load current. Although typical application setup is given in the datasheet, I'll try to draw a clearer version:

simulate this circuit – Schematic created using CircuitLab
Rshunt
is a small resistance (e.g. 50 mR) to measure the current that the load draws from the supply.
If you don't want to measure the current (i.e. you want to measure the bus voltage only) then short Vin+
and Vin–
pins together to positive bus rail:

simulate this circuit
and set the operation mode to one of the "bus-voltage-only" modes:

If there's any available A/D channels on your Arduino then you can use it via a simple voltage divider, but you should take the maximum possible bus voltage into account i.e. the divider's output shouldn't exceed the A/D channel's max acceptable input voltage.