Open Xterm and type "mc" (without the quotes), followed by <return>.

Midnight Commander is a console app and does not show up in the lists.

One caveat: you can navigate through mc's window with the cursor pad, but only the virtual keyboard's <return> key works for selecting stuff (the center button of the cursor pad turns the virtual keyboard on or off). I haven't tried mc with my bluetooth keyboard yet, so I don't know if that works. The menu options at the bottom of the mc screen can be selected with the stylus.

Also, the only way I know of to end mc, is by closing the Xterm window (the "x" in the top right corner).

Happy hacking.