以下の例を参照してください (ボタンをクリックすると、中央に移動します)。
activity_main.xml :
<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:id="@+id/root"
    android:layout_width="match_parent"
    android:layout_height="match_parent" >
    <Button
        android:id="@+id/my_view"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_alignParentBottom="true"
        android:layout_alignParentRight="true"
        android:text="Menu" />
</RelativeLayout>
MainActivity.java :
public class MainActivity extends Activity {
    private View mView;
    @Override
    public void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        mView = findViewById(R.id.my_view);
        mView.setOnClickListener(new OnClickListener() {
            @Override
            public void onClick(View v) {
                ViewGroup.LayoutParams vg_lp = mView.getLayoutParams();
                // Make sure we are in RelativeLayout
                if (vg_lp instanceof RelativeLayout.LayoutParams) {
                    RelativeLayout.LayoutParams rl_lp = new RelativeLayout.LayoutParams(vg_lp);
                    rl_lp.addRule(RelativeLayout.CENTER_IN_PARENT);
                    mView.setLayoutParams(rl_lp);
                }
            }
        });
    }
}