Sockets are what you need. To get basic information about them, read here: http://en.wikipedia.org/wiki/Internet_socket You do not need to read everything, but I think it is important that you read at least all the "implementation problems" in order to get familiar with socket methods. Of course, these methods are implemented differently for each platform (Windows, Android ...), but they usually do the same everywhere . So, as soon as you understand what each of them is doing, you can easily work with sockets on any platform.
This diagram (from the wiki) helps demonstrate the use of sockets: 
You are on the client side. Therefore, just create a socket and call the connect method for the IP address of your server.
Personally, I have never used sockets in Android development. But I think you should use this class: http://developer.android.com/reference/java/net/Socket.html
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