Here are two potential ways that you could go about doing this, though there are doubtless many others:
Create a new launch activity that will look and determine whether you have a valid access token in your persistent storage. If not, launch the login activity. If so, take the user into the main part of the app.
Keep the login activity as your app's launch activity, but before actually displaying the form, check whether you have a valid access token. Then, if a valid token is present, push the user straight through to the next screen.
In both cases, assuming that your token is stored locally on the device in some fashion, the process should happen so quickly as to be essentially invisible to the user.