The "Android-Way" of doing this (if it's only two levels of hierarchy) would be using the ExpandableListView. You can find this in the API Demos sample project.
To implement something really identical to the iPhone behavior, I am sure you must go the hard way of implementing this yourself.
- Option A: implement distinct Activities for each level of hierarchy (maybe using ListActivities) and push the data in there manually
- Option B: maybe it is possible to implement sliding in and out of data through a SlidingDrawer. I am not sure though, haven't used it so far.
Seems to be tough to implement this in Android. Let's see what others suggest!