Here's my recommendation:
1. You need to get an IDE to write your programs, I recommend downloading
Eclipse Classic.
2. Download and Install the Android SDK and Eclipse ADT plugin onto your system.
Here are the instructions.
3. Learn Java! I recommend the free book Thinking in Java. Here's a link to the
source webpage (html version recommended!), and here's a link to a
PDF version of the book..
4. Start reading
the Android Developer's Guide to get an idea of how Android programs work while you're learning Java.
5. While you're reading the Dev Guide (in Step 4), start writing your first programs. Start with the Android
Hello World! program.
6. Go through the
Hello Views examples to learn the basics of layouts. And remember, with the SDK downloaded, you actually have all the examples on your computer. You just have to import them. The samples are located in your SDK directory at: [Install Directory]\android-sdk-windows\platforms\android-X.X\samples
7. To actually publish an application, you'll have to
register with Google and pay $25 (a one time fee).
8. Be patient (if you're not familiar with Java or programming at all, expect to spend several weeks to several months learning just the basics of writing a program) Experiment and enjoy!
And, if you ever need any help, you have a whole forum of people here to help!