Use the --number flag to print line numbers before each line. Alternatively, -n does the same thing.
$ cat --number file
 1  line 1
 2  line 2
 3
 4  line 4
 5  line 5
To skip empty lines when counting lines, use the --number-nonblank, or simply -b.
$ cat -b file
 1  line 1
 2  line 2
 3  line 4
 4  line 5