My friend is on his Samsung Galaxy tablet, and I'm on my iPod 5th gen. It's not letting us be on the same server. We are both using the same WiFi. I have Minecraft PE and my friend has PE Lite. When I go to "join game" and click on his server name, it says locating server. But after a few moments it says could not connect to server and returns try again. Why isn't it letting me?
Your friend has the lite version, as you stated above.
The Minecraft Pocket Edition wikia says:
The multiplayer mode is cross-platform compatible between Android and iOS, but not Demo/Lite with Full version
Basically, both of you need to have the Full version in order to play with each other. Or you could both use the lite edition .