Manifest

<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
      package="com.service.gpsApp"
      android:versionCode="1"
      android:versionName="1.0">
    <uses-sdk android:minSdkVersion="10" />

    <application android:icon="@drawable/icon" android:label="@string/app_name">
		<receiver android:name=".StartUpApp">
            <intent-filter>
                <action android:name="android.intent.action.BOOT_COMPLETED" />
            </intent-filter>
        </receiver>
		<service android:name=".ServiceAppActivity"></service>
    </application>
    
    <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED"></uses-permission>
</manifest>

ServiceAppActivity.java

package com.service.gpsApp;

import android.app.Service;
import android.content.Intent;
import android.os.Handler;
import android.os.IBinder;
import android.util.Log;

public class ServiceAppActivity extends Service {
	
	private Handler handler = new Handler();
	
	@Override
	public IBinder onBind(Intent intent) {
		return null;
	}
	

	@Override
	public int onStartCommand(Intent intent, int flags,int startId)
	{
		Log.e("On","Start");
		handler.postDelayed(doSomething,2000);
		return START_STICKY;
	}
	
	@Override
	 public void onDestroy() 
	{
		handler.removeCallbacks(doSomething);
		Log.e("On","Destroy");
		super.onDestroy();
		
	}
	public static int  count = 0;
	
	private Runnable doSomething = new Runnable(){
		public void run()
		{
			Log.e("Try","I'm here");
			count++;
			Log.e("count",String.valueOf(count));
			handler.postDelayed(doSomething,2000);
		}
	};
}

StartUpApp.java

package com.service.gpsApp;

import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;

public class StartUpApp extends BroadcastReceiver  {

	@Override
	public void onReceive(Context context, Intent intent) {
		// TODO Auto-generated method stub
		if (intent.getAction().equals("android.intent.action.BOOT_COMPLETED")) 
        { 
			Intent serviceIntent = new Intent(context, ServiceAppActivity.class);
			context.startService(serviceIntent);
        }
	}
}