Good morning susanna4105,
I have a similar situation with my wife and some relatives abroad. I have a Galaxy S3, my wife has an iPhone and some relatives have other Android devices. While Verizon Wireless cannot recommend 3rd party applications as we do not support them, I personally use an application called WhatsApp that works great on different operating systems including iOS and Android, and keep us all in contact with a very reliable IM experience that allows us to exchange messages, voice messages, picture and more. Give it a try!
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