If you have a PN532 as the other end of the communication, I would suggest that you use the PN532 in card emulation mode. You can then access it from the phone as if it was an IsoDep card. See, for instance, the paper "An NFC ticketing system with a new approach of an inverse reader mode".
As an alternative you coud do peer-to-peer communication (note, however, that particularly bi-directional communication with an Android device is not that straight forward and involves a lot of communication overhead). The ISMB-SNEP project, for instance, shows how to implement communication between an Android device and an ACR122U (which contains a PN532).