We propose an experimental realization of a time crystal using an atomic Bose-Einstein condensate in a high finesse optical cavity pumped with laser light detuned to the blue side of the relevant atomic resonance. By mapping out the dynamical phase diagram, we identify regions in parameter space showing stable limit cycle dynamics. Since the model describing the system is time independent, the emergence of a limit cycle phase indicates the breaking of continuous time translation symmetry. Employing a semiclassical analysis to demonstrate the robustness of the limit cycles against perturbations and quantum fluctuations, we establish the emergence of a time crystal.