You can take a look at the implementation of the ACS Common Site Map Servlet, and use it as inspiration to build your own Site Map servlet. Cloning "com.adobe.acs.commons.wcm.impl.SiteMapServlet" directly into your project will work without much configuration. Read the implementation of the SiteMapServlet and understand what it is doing. With this example code, it should be able to steer you to the right direction on how to implement and build your own Site Map Servlet. Also, never forget about unit tests. As an example, you can take a look at ACS Common's Site Map Servlet's Unit Test, com.adobe.acs.commons.wcm.impl.SiteMapServletTest, as inspiration.