You may be aware that the CICS TS V5.1 open beta provides the WebSphere Application Server Liberty profile that is able to run web applications.
Information center topic "Installing the developer tools for the Liberty profile" describes how to install Eclipse, Eclipse Web Tools Platform, CICS Explorer SDK, and optionally the WebSphere Application Server Developer Tools.
You can then progress to topic "Getting started with the servlet examples" that describes how to create a set of example Eclipse projects.
Note that after the examples are created, if the dynamic web projects com.ibm.cics.server.example.wlp.jdbc.web and com.ibm.cics.server.example.wlp.tsq.web have build problems indicated by a red box with a white x against the project, it may be because javax.servlet cannot be resolved. You can fix this problem by:
1. Select the dynamic web project
2. From the menu, select Project > Properties > Java Build Path > Libraries > Add Variable
3. Select ECLIPSE_HOME > Extend
4. Expand directories plugins > com.ibm.cics.explorer.sdk.web_5.1.0.<version> > com.ibm.ws.javaee.servlet<version>.jar
5. Click OK
The project should now correctly build, and you can following topic "Deploying the servlet examples" to get deploy and run them in CICS.