I think it is faster and easier to install a dual boot with Linux or even Linux in a virtual machine. But, if you really want to develop on Windows, try to execute the following steps, in this order:
1> Install the Android-SDK
2> Install Ant
3> Make sure you can compile the java part of the test project lazarus-ccr/examples/androidlcl
4> Build a cross-compiler for arm-linux (2.5.1+)
5> Obtain Lazarus SVN, build and configure it
6> Build the Pascal part of the test project in lazarus-ccr/examples/androidlcl
7> Build again the java part of the test project
8> Test the resulting APK