I use Mileage Tracker Pro that's available on Handango. I don't think it's as good as it could be (editing entries could be easier), but it does the trick for me. The good points are you can quickly enter your starting odometer reading, (it picks the current date by default, and has default reasons etc) and it syncs to a server with a web front end to enable you to quickly extract information for expense reports. It's also inexpensive!
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