Use Intent.ACTION_GET_CONTENT to trigger an action for the user to select the desired media type. To select an image, you probably need the MIME type "image / *". You also want to wrap this up with a choice, since often you will have several sources of content for the user (for example, they can view the gallery or take a picture at this point or a common file browser, if installed, etc.).
Here is some crude code, possibly a buggy, because I'm just writing it here:
Intent intent = new Intent (Intent.ACTION_GET_CONTENT);
intent.setType ("image / *");
// Do this if you need to be able to open the returned URI as a stream
// (for example here to read the image data).
intent.addCategory (Intent.CATEGORY_OPENABLE);
Intent finalIntent = Intent.createChooser (intent, "Select profile picture");
startActivityForResult(finalIntent, IMAGE_SELECTED);
-, onActivityResult().
: http://developer.android.com/reference/android/content/Intent.html#ACTION_GET_CONTENT