Finally ZenGL got an Android 2.1+ support in latest svn revision. You can grab it from here with your svn client:
http://zengl.googlecode.com/svn/trunk/Standard demo05 for learning how to use ZenGL with Android is placed
here. Just unpack it somewhere and import into Eclipse - File->New->Project->Android Project and choose "Create project from existing source" like shown
here. Then choose some other options like Android SDK and so on. Next step - download from
here project for Lazarus(also there is a Makefile). Unpack it into demos directory of ZenGL svn working copy. Open demo05.lpi in Lazarus and change
path to lib directory and libdl.so to your own from yours Android NDK. Compile and copy all *.so libraries into TestZenGL/libs/armeabi. So, now you can start to test it on your device or emulator
PS: Everything was tested with FreePascal compiled from
fixes_2_6 branch.