private void stopForegroundService() {

    // Stop foreground service and remove the notification.
    stopForeground(true);

    // Stop the foreground service.
    stopSelf();
}

Intent intent = new Intent(this, MyForeGroundService.class);
    intent.setAction(MyForeGroundService.ACTION_STOP_FOREGROUND_SERVICE);
    startService(intent);

private static final String TAG_FOREGROUND_SERVICE = "FOREGROUND_SERVICE";

public static final String ACTION_START_FOREGROUND_SERVICE = "ACTION_START_FOREGROUND_SERVICE";

public static final String ACTION_STOP_FOREGROUND_SERVICE = "ACTION_STOP_FOREGROUND_SERVICE";

@Override
    public int onStartCommand(Intent intent, int flags, int startId) {
        if (intent != null) {
            String action = intent.getAction();

            switch (action) {
                case ACTION_START_FOREGROUND_SERVICE:
                    startForegroundService();
                    break;
                case ACTION_STOP_FOREGROUND_SERVICE:

                    stopForegroundService();
                    break;
            }
        }
        return START_STICKY;
    }

  private void stopForegroundService() {
    Log.d(TAG_FOREGROUND_SERVICE, "Stop foreground service.");

    // Stop foreground service and remove the notification.
    stopForeground(true);

    // Stop the foreground service.
    stopSelf();
}

<service
    android:enabled="true"
    android:name=".ExampleService"
    android:exported="false"
    android:stopWithTask="true" />

@Override
    public void onTaskRemoved(Intent rootIntent) {
        System.out.println("onTaskRemoved called");
        super.onTaskRemoved(rootIntent);
        //do something you want
        //stop service
        this.stopSelf();
    }