Bria Mobile for Android can interface with the Android OS on most devices and prompt you to choose your dialing preference when you call from your Address Book.
The prompting should happen automatically after installation. You can set a preference, if you like, so you are not prompted again.
If you wish to adjust this preference, go to your Device's System Settings, then to "Apps". Tap "Manage Applications" and select "All" (on some devices), or slide the categories left to find "All."
Find "Dialer" or "Phone," depending on the device. In this app's screen, there will be a "Launch by Default" setting - clear this to reset the prompt. When you next dial, you should be prompted again.