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This article is a gathering of information, credits need to be given to the authors of the pages behind the given links.

Using Netbeans (thanks to mrhaki)

This setup will also allow you to debug your application under Netbeans.

Pom setup

Add the following to the <build><plugins> block of your projects pom.xml

      <plugin>
        <groupId>org.mortbay.jetty</groupId>
        <artifactId>maven-jetty-plugin</artifactId>
        <configuration>
          <stopPort>9966</stopPort> 
          <stopKey>jetty-stop</stopKey>
          <scanIntervalSeconds>10</scanIntervalSeconds>
        </configuration>
      </plugin>

The stopPort and stopKey parameters can have arbitrary values.

Configure custom Run and Debug actions

Open the properties window of your Maven project and select Actions from the Categories list.
Find the Run action and change the Execute Goals value to jetty:stop jetty:run.
Then, do the same for the Debug project action and set the following properties:

jpda.listen=maven
netbeans.deploy.debugmode=true

That's all!