First of all you should read up on and learn how to use Jersey. This is the best implementation of JAX-RS API (REST for Java).
You will also need a good HTTP server and Java Servlet container. For that I'd advise you to use Jetty. Here are a few good tutorials:
- Crunchify: Build RESTful Service in Java using JAX-RS and Jersey (Celsius to Fahrenheit & Fahrenheit to Celsius)
- Vogella: REST with Java (JAX-RS) using Jersey - Tutorial
You asked for a "simple server", however if you're looking for high performance then read this tutorial:
Javarants: Using JAX-RS with Protocol Buffers for high-performance REST APIs, and use the Grizzly container instead of Jetty: