Mozilla just posted a new page on their site where they are announcing that the app is on its way to our iPhones ( probably right now Apple is reviewing the app). They also released a new commercial , presenting the app and showing how can we use it.
In order to sync your computer and iPhone you will need to install a Firefox add-on. The app and the add-on will be delivered to us for free. You can find more info about the project on the official page.