mHandler = new Handler(Looper.getMainLooper()) {
    @Override
    public void handleMessage(Message message) {
        // This is where you do your work in the UI thread.
        // Your worker tells you in the message what to do.
    }
};

void workerThread() {
    // And this is how you call it from the worker thread:
    Message message = mHandler.obtainMessage(command, parameter);
    message.sendToTarget();
}