Get the Eclipse for Java Developer's download. Work through the tutorials in the help text (the "Getting Started" sections under "Workbench User's Guide" and "Java development user's guide" is sufficient). That will give you basic Eclipse familiarity. Then got to http://developer.android.com/guide/developing/eclipse-adt.html
I think it more comes down to which features you want to use NetBeans for doesn't it? The Android SDK comes with all the command line tools etc to do development, so in theory you should be able to use any IDE or none at all. While Eclipse will allow you to get started and make following the tutorials a lot quicker, you could always use NetBeans to do your java and XML stuff, then maybe create some ant scripts or something that leverage the necessary tools from the SDK to package and launch your application.