arm linux fpc+lazarus package (for linux32 only): http://gen2gdk.com/files/ArmLinuxUtils.tar
download, read the instructions and run the installer after that you'll have fpc and lazarus ready for arm-linux compilation.
then you'll still need some tool to assemble the apk (eclipse or android studio) so I suggest that you do some reading
about the android NDK and how to link native code with the android application.

you can also find some decent instructions on how to create an arm-linux fpc compiler here: http://zengl.org/wiki/doku.php?id=compilation:android
another more recent article (looks like things are getting more simple): http://wiki.freepascal.org/Android

I would love to write an article about the whole process up to deploying an app to the device but I simply have no time for it.
if someone else decides to do that I would be happy to answer any questions here on the forum.