I created a Java application which opens an xml file that looks something like this:
If it's in the resource tree, it'll get an ID assigned to it, so you can open a stream to it with the openRawResource function:
InputStream is = context.getResources().openRawResource(R.xml.data);
As for working with XML in Android, this link on ibm.com is incredibly thorough.
See Listing 9. DOM-based implementation of feed parser
in that link.
Once you have the input stream (above) you can pass it to an instance of DocumentBuilder:
DocumentBuilderFactory factory = DocumentBuilderFactory.newInstance();
DocumentBuilder builder = factory.newDocumentBuilder();
Document dom = builder.parse(this.getInputStream());
Element root = dom.getDocumentElement();
NodeList items = root.getElementsByTagName("TheTagYouWant");
Keep in mind, I haven't done this personally -- I'm assuming the code provided by IBM works.