GeoPhoto

GeoPhoto is a free app that lets you group and view your pictures on Google maps at the locations they were taken.
GeoPhoto will list all pictures in your phone for viewing and geo-tagging.
Pictures that have Gps location data will be automatically shown on Google maps (red markers).
You can also easily soft-tag pictures without Gps location by assigning them a location on Google maps (green marker).

To soft-tag a picture select picture from the untagged list and just place it on the map.