Android : Way To Use Maps App In Droid Application?

I am currently developing an application which has a maps feature. My map is working, but I still need to create a Directions option. In previous versions of the Android SDK there used to be a class called DrivingDirections, which did exactly what I want. Now it's gone and I don't know how to add this feature to my current map. I read that Google have updated their terms thus making the use of Directions in apps kinda illegal or something like that. But there are Directions in my built-in Maps application. So my question is - Is there any way for me to pass parameters (longitude, latitude) from my application to the built-in application so that the built-in Maps can then draw the route from the start point to the end point?