Hi,

First, if you're willing to work with the AOSP, i recommend you to read 
this book : 

Embedded Android
By Karim Yaghmour 
<http://shop.oreilly.com/product/0636920021094.do#tab_03_2>

If you have the apk : 
http://stackoverflow.com/questions/10579827/add-apk-files-in-aosp
 
If you don't : 

I've never done it myself, but refering to the book :

Supposing you've created a device : 
Copy your app from you eclipse workspace to a folder in your new device 
folder
Create an Android.mk file 
modify your device mk file to include your app

If you didn't create a device (not recommanded for compatibility, but you 
probably don't care anyway) : 
Copy your app from you eclipse workspace to *packages/apps/*
Create an Android.mk file 
modify aosp-root/build/target/product/core.mk to include your app

Your Android.mk should be something like (for an HelloWorld app) : 
LOCAL_PATH:= $(call my-dir)
include $(CLEAR_VARS)
LOCAL_MODULE_TAGS := optional
LOCAL_SRC_FILES := $(call all-java-files-under, src)
LOCAL_PACKAGE_NAME := HelloWorld
include $(BUILD_PACKAGE)

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