I have seen few tutorials on net about this. But they are not working with Tomcat 5.x. Kindly let me know if any tutorial exist for Tomcat 5.x which can explain how to embed Tomcat into Java Application.
I don't think the process has changed all that much over the years. Essentially, (if my memory hasn't failed), you have a JavaBean that represents Tomcat, you set properties on it to customize how Tomcat will run, then you call the bean's bootstrap method to launch the embedded Tomcat.
An IDE is no substitute for an Intelligent Developer.