This tutorial describe you how to make a call from your android application.
To make a call you just need to call Implicit intent like this:-
// call implicit intent with phone number to make a call
Intent callIntent = new Intent(Intent.ACTION_CALL);
callIntent.setData(Uri.parse("tel:9897123456"));
startActivity(callIntent);
Also you need to add the following permission in your manifest file:-
<uses-permission android:name="android.permission.CALL_PHONE"/>
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