Technologies for handheld devices with open-platforms have made rapid progresses recently which gives rise to the necessities of bringing embedded system education and training material up to date. Android system plays a leading role among all of the open-platforms for embedded systems and makes impacts on daily usages of mobile devices. In this paper, we present our experience of incorporating Android-based lab modules in embedded system courses. Our lab modules include system software labs and embedded application labs. The Android embedded application lab modules contain computer vision, audio signal processing and speech recognitions, and 3D graphics materials. Lab modules for Android systems in embedded system software cover topics on embedded compiler, HW/SW co-design, and power optimization. We also illustrate how these laboratory modules can be integrated into embedded system curriculum. Feedbacks from students show that these laboratory modules are interesting to students and give them essential training of adopting Android components for embedded software development.