activity_drawer_layout

<?xml version="1.0" encoding="utf-8"?>

<android.support.v4.widget.DrawerLayout
    xmlns:android="http://schemas.android.com/apk/res/android"
    android:id="@+id/drawer_layout"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:background="@color/Red">
    
    <FrameLayout
        android:id="@+id/activity_frame"
        android:layout_height="match_parent"
        android:layout_width="match_parent"/>

    <ListView
        android:id="@+id/left_drawer"
        android:layout_height="match_parent"
        android:layout_width="240dp"
        android:layout_gravity="start"
        android:choiceMode="singleChoice"
        android:divider="@android:color/darker_gray"
        android:dividerHeight="1dp"
        android:background="@drawable/gray_bg"
        android:listSelector="@color/dark_gray_bg"/>

</android.support.v4.widget.DrawerLayout>

drawer_list_item

<TextView xmlns:android="http://schemas.android.com/apk/res/android"
    android:id="@android:id/text1"
    android:layout_width="match_parent"
    android:layout_height="wrap_content"
    android:gravity="center_vertical"
    android:paddingLeft="16dp"
    android:paddingRight="16dp"
    android:textColor="@color/Black"
    android:textSize="18sp"
    android:minHeight="40dp">
</TextView>

DrawerActivity

public class DrawerActivity extends ActionBarActivity {
    private DrawerLayout mDrawerLayout = null;
    private ListView mDrawerList = null;
    private String[] mDrawerItems;
    private ActionBarDrawerToggle mDrawerToggle = null;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_drawer_layout);

        mDrawerLayout = (DrawerLayout) findViewById(R.id.drawer_layout);
        mDrawerList = (ListView) findViewById(R.id.left_drawer);
        mDrawerItems = getResources().getStringArray(R.array.left_drawer_array);

        mDrawerLayout.setDrawerShadow(R.drawable.drawer_shadow, GravityCompat.START);

        mDrawerList.setAdapter(new ArrayAdapter<String>(
            this, R.layout.drawer_list_item, mDrawerItems));
        mDrawerList.setOnItemClickListener(new DrawerItemClickListener());

        getSupportActionBar().setDisplayHomeAsUpEnabled(true);
        getSupportActionBar().setHomeButtonEnabled(true);

        mDrawerToggle = new ActionBarDrawerToggle(this,
            mDrawerLayout, R.drawable.ic_drawer,
            R.string.drawer_open, R.string.drawer_close) {
            public void onDrawerOpened(View view) {
                invalidateOptionsMenu();
            }

            public void onDrawerClosed(View view) {
                invalidateOptionsMenu();
            }
        };
        mDrawerLayout.setDrawerListener(mDrawerToggle);
    }

    @Override
    protected void onPostCreate(Bundle savedInstanceState) {
        super.onPostCreate(savedInstanceState);
        mDrawerToggle.syncState();
    }

    @Override
    public void onConfigurationChanged(Configuration newConfig) {
        super.onConfigurationChanged(newConfig);
        mDrawerToggle.onConfigurationChanged(newConfig);
    }

    @Override
    public boolean onPrepareOptionsMenu(Menu menu) {
        boolean drawerOpen = mDrawerLayout.isDrawerOpen(mDrawerList);

        for (int index = 0; index < menu.size(); index++) {
            MenuItem menuItem = menu.getItem(index);
            if (menuItem != null) {
                // hide the menu items if the drawer is open
                menuItem.setVisible(!drawerOpen);
            }
        }

        return super.onPrepareOptionsMenu(menu);
    }


    @Override
    public boolean onOptionsItemSelected(MenuItem item) {
        if (mDrawerToggle.onOptionsItemSelected(item)) {
            return true;
        }
        return super.onOptionsItemSelected(item);
    }

    private class DrawerItemClickListener implements ListView.OnItemClickListener {

        @Override
        public void onItemClick(AdapterView<?> adapterView, View view, int position, long id) {
            switch (position) {
                case 0: {
                    Intent intent = new Intent(DrawerActivity.this, SettingsActivity.class);
                    startActivity(intent);
                    break;
                }
                case 1: {
                    Intent intent = new Intent(DrawerActivity.this, SampleActivity.class);
                    startActivity(intent);
                    break;
                }
                default:
                    break;
            }
            mDrawerLayout.closeDrawer(mDrawerList);
        }
    }
}

left_drawer_array

<string-array name="left_drawer_array">
        <item>Home</item>
        <item>Sample</item>
        <item>Help</item>
        <item>Favorites</item>
        <item>Settings</item>
        <item>Others</item>
    </string-array>

MainActivity.java

// Sample Activity which extends the DrawerActivity

public class MainActivity extends DrawerActivity {

   @Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
   // don’t set any content view here, since its already set in DrawerActivity
   FrameLayout frameLayout = (FrameLayout)findViewById(R.id.activity_frame);
    // inflate the custom activity layout
    LayoutInflater layoutInflater = (LayoutInflater)getSystemService(Context.LAYOUT_INFLATER_SERVICE);
    View activityView = layoutInflater.inflate(R.layout.activity_main, null,false);
    // add the custom layout of this activity to frame layout.
    frameLayout.addView(activityView);
    // now you can do all your other stuffs
   }
}