I'm not aware of any way to import them directly, but you could consider using the Sync service. Note that you may need to turn off Sync for other kinds of data if you want to ONLY synchronize bookmarks.

More info: How do I set up Sync on my computer?

Note: When you create your Sync account, the server should display a "key" that you will need if you ever want to recover your account (for example, if you need to reformat your computer), so it's best to keep that in an offline format (such as paper).

1. Start the Firefox Startpage and click Settings 2. Select Sync 3. Follow the instructions of the Firefox Sync settings 4. Do the same on your Mobile device

I had a similar problem and tried Sync. It didn't help much. So I experimented.

This works pc to phone, I don't know the other direction. 1. On your desktop computer save all your bookmarks as an HTML file. 2. Open the HTML file in any editor that supports links (even MS Word). 3. Scroll through and delete everything you don't want. 4. If you want to add text do so. 5. Save the result as an HTML file. 6. Use whatever method you have to move or copy the file to your phone. 7. Select the file and choose to open with Firefox.

Now all your links are available, sectioned off as you desire, can be activated as links, and then saved as regular bookmarks if you wish.

A moderate pain in the butt, but that's what we get when we expect a small minimalist slab of metal to act like a BIG computer.