It's a little hard to answer this question because I don't have a lot of information about what you're trying to do. I'm guessing that you have some kind of data or resource that you'd like to present through consistent (and preferably clean) URI's?
If all you need is GET, you can use Axis2 pretty easily. Here's a link from the Axis2 website:
http://axis.apache.org/axis2/java/core/docs/quickstartguide.html#create
essentially, all you need to do is create a model class that represents the data you'd like to present, and then create a simple POJO that contains the methods you'd use to access this data. Axis2 will turn these methods into a web service. If it's just get, you can pass parameters to the methods through the URL, ie., like
http://servername/axis2/services/myservice/mymethodname?param1=value¶m2=value
Axis2 will take whatever the method returns (probably the model you defined to represent your output) and parse it into XML for you. Unfortunately, the URI isn't especially pretty (and contains request variables), and The default XML will contain a lot of axis-specific tags.
It sounds like Axis2 and REST are strict requirements for you - if what I described above is all you need to do and you had more flexibility with your approach, I think there would be better ways to go about it.