There's not much to say about it, just look into basic 2D game tutorials and they should give you enough information. I've never worked with Android so I don't have any links at hand, but you need the following:
- Draw the track; for simplicity your track can be one complete image and you simply draw it on the background.
- A 2D camera that changes your point of view of the scene. Basically it creates a View Matrix for you to pass OpenGL when drawing.
- A player/car object with X,Y position in the track. Draw the player on top of the track at that position.
- Fix the 2D camera to your player (e.g.
camera.Position = player.Position;).