This thread http://www.motoringalliance.com/forums/car-entertainment-nav/18097-rev-dash-command-another-app.html#axzz2bZdCINMI has some discussion on Android apps as well as iOS apps that can be used. Keep in mind you will need another hardware device to plug into the OBII port to communicate with your Android device too.
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Being andAndroid device the Torque app would be your best bet I think. Torque — OBD2 Performance and Diagnostics for your Vehicle
You can find a listing of both wireless and wired devices that you pair with the phone to see the data at Bluetooth Adapters - Torque OBD2 Wiki