For some reason (I forget) you need to use a JSP to forward to your action. So, create some welcome.jsp (which is your index file in your web.xml), which simply does a <jsp:forward page="/welcome.do"/>.
Originally posted by Nathaniel Stoddard: For some reason (I forget) you need to use a JSP to forward to your action.
I believe that reason is that the specification talks about welcome files which are to be used when a request comes in for a "directory" URL that has no servlet mapping set.