1. Download NetBeans IDE 6.8: http://netbeans.org/ 

2. Select the "Java" download: http://netbeans.org/downloads/index.html

   This includes Java Web/EE and Appache/Tomcat server.

3. Follow a tutorial to see how it works. Here are some suggestions. You might find a
   better one on your own.



Some tutorial suggestions:


WebServices and JSP on NetBeans
http://blogs.sun.com/jonasdias/entry/webservices_with_jsp_on_netbeans


Creating and Running JSP, Servlets and HTML with Netbeans & Tomcat
http://cit.wta.swin.edu.au/cit/subjects/CITP0014/tutorials/netbeans/tomcat/Running_Tomcat_from_Netbeans.html


Tomcat and Netbeans with Java (older)
http://wiki.netbeans.org/NetbeansedTomcat


You can also do a google search and find a ton of other tutorial websites and wikis.