So, if by "floating" you mean fixed, here is my way to do that:
<?xml version="1.0" encoding="utf-8"?>
<RelativeLayout
xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="fill_parent"
android:layout_height="fill_parent"
>
<TextView
android:id="@+id/txtQuestion"
android:background="@color/blue_gray_semi"
android:layout_alignParentTop="true"
android:layout_width="fill_parent"
android:layout_height="wrap_content"
android:minHeight="48dp"
android:padding="8dp"
android:textColor="@color/white"
android:textSize="16sp"
android:textStyle="bold"
android:shadowColor="@color/black"
android:shadowRadius="1"
android:shadowDx="1"
android:shadowDy="1"
/>
<TextView
android:id="@+id/txtPosition"
android:background="@color/blue_gray_semi"
android:layout_alignParentBottom="true"
android:layout_width="fill_parent"
android:layout_height="48dp"
android:gravity="center"
android:padding="0dp"
android:textColor="@color/white"
android:textSize="24sp"
android:textStyle="bold"
/>
<ListView
android:id="@+id/lvwAnswers"
android:layout_width="fill_parent"
android:layout_height="fill_parent"
android:layout_below="@id/txtQuestion"
android:layout_above="@id/txtPosition"
android:listSelector="@drawable/list_item_colors"
android:background="@drawable/list_border"
style="@style/ListViews"
/>
</RelativeLayout>
Note that I defined some colors/styles/drawables...
You can live without, just to understand the concept.
Then, customize it at your will.
Now, you'll notice that The textView are defined BEFORE the ListView.
This is because so the ListView can refer to them in its "above" and "below" attributes.
If you were to use a LinearLayout, instead, you should define them top to bottom as they have to be displayed (Header, ListView and Footer)