Please follow the sugar documentation at http://satyan.github.io/sugar
The example application is provided in the "example" folder in the source.
Add a meta property named ENCRYPTION_KEY in your manifest file along with other Sugar configuration as follows:
<meta-data android:name="ENCRYPTION_KEY" android:value="<your own key here>" />
Include the SQLCipher libraries and assets from this link: https://s3.amazonaws.com/sqlcipher/SQLCipher+for+Android+v3.1.0.zip
Extract the libs and assets into your application. This dependency is not included in the sugar library.
You're good to go. Use Sugar as usual and your database is encrypted now.