You need to adjust the camera matrix with the vector up along the X axis, and not along the Y axis, which you usually do. Rotating the world 90 degrees works, but makes it difficult to work with everything else.
Use somthing like:
up.x = 1; // instead of up.y
up.y = 0;
up.z = 0;
gl.glMatrixMode(GL10.GL_MODELVIEW);
gl.glLoadIdentity();
GLU.gluLookAt(gl, position.x, position.y, position.z, lookAt.x, lookAt.y, lookAt.z, up.x, up.y, up.z);
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