For haptic feedback on button touches:
view.setHapticFeedbackEnabled(true);
or in the layout:
android:hapticFeedbackEnabled="true"
Triggering haptic feedback manually:
view.performHapticFeedback(HapticFeedbackConstants.VIRTUAL_KEY);
Vibrate:
Vibrator vibo = (Vibrator) this.getSystemService(VIBRATOR_SERVICE);
vibo.vibrate(millis);
Note: only this last one requires the permission:
<uses-permission android:name="android.permission.VIBRATE" />