Quick answer
To scan a document on Android, open Google Drive And tap Create new -> Scan.
How to scan documents on Android
If you have a Samsung Galaxy phone, you can scan documents directly without downloading any third party apps, as long as you have One UI 2 or higher. Most Galaxy phones should have this feature in the last few years, as Samsung is already launching One UI 4 in the Galaxy S20 and S21 series.
Just launch the Camera app from your Galaxy device and line it up with a document to start scanning. When you see the yellow lines on the border of the paper, select Tap to scan.

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You can then move the corners of the document to add or remove any unnecessary parts. If you are happy with the scanned area, tap Save.

Adam Barney / Android Authority
Once the scan is saved, you will be able to see your documents in it Gallery App
If you have a separate Android skin, you need Google Drive to scan documents. This is a great option if you want to convert your scans into PDF documents.
First open the Google Drive app and tap + Icon at the bottom right. Under Create new Menu, tap Scan.

Adam Barney / Android Authority
Position your phone’s camera to face the document, and tap the center button when you’re ready to scan the image.

Adam Barney / Android Authority
Yes, you can scan a document with your Android phone using Google Drive.
How do I scan a document and upload it to my computer?
Follow the steps in this guide to scan a document with Google Drive You can then access your documents from your Google Drive on any device.
How do I scan a document with my iPhone?
If you have an iOS 11 or higher iPhone, open it Comments App, tap The camera Icon and select Scan documents.