If you don't want to create a custom jar/java this is how i did :
you will just need to update your android manifest with something like this :
<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
<receiver android:name="com.alcinoe.content.ALStartServiceBroadcastReceiver">
<intent-filter>
<action android:name="android.intent.action.BOOT_COMPLETED" />
</intent-filter>
</receiver>
<meta-data android:name="com.alcinoe.startServiceName" android:value="com.embarcadero.services.myService"/>
and add the alcinoe.jar (https://svn.code.sf.net/p/alcinoe/code/)
that all you will need to do :)