Group chatting between Android and IPhone?

I just got a samsung galaxy s3 and all my friends have iphones! When they group chat, I get the messages in their separate tabs for each person. Also, if I responde in a tab where I put everyone in the group message as the receivers, they get it in their tab for me. Is there anyway I can maybe get an app or something so when they group message I see it all in one tab and when I respond back, it appears on the phone in the group message?

WhatsApp.

Available for both phones. My friends (Windows Phone, Android, BlackBerry, iOS users) all have it & we chat with it all the time.

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