The way you ask this question (implying that the model-format would be anyhow related to the programming language you use) leads me to think that you probably shouldn't put your fingers on 3D-programming anytime soon.
There are many different approaches. Implementing your own Wavefront OBJ loader, in any language, to get it into packed GLES1.1 or GLES2.x arrays == good exercise for the eager mind. However, you could also just google it.
If you want something that will help you understand how it works and whats going on, I can suggest the sources for Wakebreaker, which is a GLES1.x-level introduction to the subject, plain ol' C++ code, fairly well written and organized. It helped me bootstrap the logistics, at least for the 1.1 profile, a few years back .. and should only consume an hour or so of time before you grok the problem and move on. I've started a little hack/snippets repo for my Pandora hacking here, and I put (what I think is) the last WakeBreaker sources in it (since my normal site is down ..): https://github.com/seclorum/pandora-w1x
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