Listen for first TouchEvent when using SYSTEM_UI_FLAG_HIDE_NAVIGATION
As Josh Lee suggested in his comment, View.OnSystemUiVisibilityChangeListener was the key.
Here is the code that I used:
mView.setOnSystemUiVisibilityChangeListener(new OnSystemUiVisibilityChangeListener() { @Override public void onSystemUiVisibilityChange(int vis) { Log.i(myTag, "System UI"+ vis); if(vis == 0){ Intent i = new Intent(MainActivity.this, AnotherActivity.class); startActivity(i); finish(); } }});I think that mView could be a reference to any view that is currently showing in your Activity. In my case it was a fullscreen VideoView, and was the only view in my layout.