Android has this thing called Intents.
It basically means that applications can register to handle certain intents, and your application can ask Android to provide a list of applications that can do what you are asking.
To send a message, you need to create a intent that looks like:
//create our intent with a action of ACTION_SEND
Intent sendIntent = new Intent(Intent.ACTION_SEND);
//we want to send a simple 'text' message
sendIntent.setType("text/plain");
//this is the text we are sending
sendIntent.putExtra(Intent.EXTRA_TEXT, messageToSend);
//ask android to show apps that can handle this intent
startActivity(Intent.createChooser(sendIntent, "Send message"));
Hope that helps!