Yes you can use Select on the table stored in DataSet object
First create a DataTable object and initialize it with the table from the DataSet object. DataTable class contains 4 Select methods with different parameters that returns table's rows as DataRow array :
DataTable dt=DataSet1.Tables[0];
DataRow[] rows=dt.Select("EmpId=123");
Here it will run "SELECT * FROM Employee WHERE EmpId=123" on the table and return rows with EmpId as 123
You can refer to MSDN for different Select methods :
msdn.microsoft.com/en-us/library/t5ce3dyt.aspx