I have the same desired behavior. My solution was:
Intent intent = new Intent(this, YourActivity.class);
intent.setFlags(Intent.FLAG_ACTIVITY_NEW_TASK | Intent.FLAG_ACTIVITY_SINGLE_TOP);
mPendingIntent = PendingIntent.getActivity(getApplicationContext(), 0, intent, 0);
Also, to make the notification automatically disappear when selected by the user
notification.flags |= Notification.FLAG_AUTO_CANCEL;