I presume that you already know how to write/deploy/test servlet applications.
Step1 - Create a servlet application. Implement the doPost() method of servlet and add code as per the usage guide on apache file upload.
Step2 - Create an HTML form like this:
Provide URL of the servlet in place of action tag.
Step3 - Run the server and
test the file upload form
You can always find a lot of examples using Google.
Cheers