Hi!
The simplest way is to use a Java-first approach according to, for instance, the following tutorial:
http://www.netbeans.org/kb/docs/websvc/jax-ws.html
You should pay attention to separate things related to the different services in one layer, the service layer, and common request processing code in another layer, the processing layer.
I suspect it will mean more work to reuse part(s) from the REST service in the SOAP service. The only candidate(s) I can think of would be JAXB bean classes.
When doing Java-first SOAP web service development, artifacts will be generated at deploy time, so you may never see them. The container will take care of these things for you, so I don't think there is anything to gain from writing it yourself, and thus no need to try to use RESTEasy when implementing the SOAP web service.
Hope this helps and best wishes!