Like the title states, how can I join the Ubuntu Mobile development team? I'm not too experienced but I'd like to help out as I enjoy prototyping hardware with Ubuntu.
You can find the Ubuntu Phone team here on Launchpad. The best way to get involved with them is to join the Launchpad team, sign up for the mailing list, and introduce yourself. Tell them your experiences with both Ubuntu and software development, what sort of things you'd be interested in doing, and they'll point you in the right direction.
If there's no response straight away, don't be afraid to poke them a little ;)