One of PySoy's dependencies is Open Dynamics Engine (ODE). Find or write directions for compiling ODE using Google's Android NDK. Your instructions should be suitable for someone writing a script to do the job - and may actually be in the form of a script.
While working on this task you should join and remain in #CopyleftGames on Freenode to get help, feedback, and guidance from mentors and other developers. Code updates which may affect your work are also announced here as they happen.
When you've done, post your directions in a plain text file to this task. If patches are required, include them as well.