Firefox Home, a free application, is now available for download on your iPhone or iPod Touch.
Firefox Home provides access to your Firefox desktop history, bookmarks and open tabs on your iPhone. Firefox Home uses your browser data, securely synced from Firefox on your desktop to the cloud, to let you search and browse quickly and efficiently. You can view the sites you want directly in Firefox Home, open them in Mobile Safari or share them with friends via email. Your Firefox data is private and only you have access to it.
Detailed set-up instructions are available here/