Feature discovery animations for Android

You need to make custom animation or else you can use Ripple Effect + Reveal and set it to navigation drawer icon,

Circular Reveal Animation

void enterReveal() {
    // previously invisible view
    final View myView = findViewById(R.id.my_view);

    // get the center for the clipping circle
    int cx = myView.getMeasuredWidth() / 2;
    int cy = myView.getMeasuredHeight() / 2;

    // get the final radius for the clipping circle
    int finalRadius = Math.max(myView.getWidth(), myView.getHeight()) / 2;

    // create the animator for this view (the start radius is zero)
    Animator anim =
        ViewAnimationUtils.createCircularReveal(myView, cx, cy, 0, finalRadius);

    // make the view visible and start the animation
    myView.setVisibility(View.VISIBLE);
    anim.start();
}