Configure a new servlet in Struts 2.0

[Kushal Thakore]

Hello,
I am a newbie when it comes to Struts. I need to have a servlet called from my JSP page. Can anybody tell me the following:
- Where do I place the Serlvet class? Under the webapplication or along with my other Action/Form classes? I create a JAR file of my form and action classes along with other utility classes and place in the app's WEB-INF\lib dir.
- Which files do I need to change and how so that I can call a servlet successfully. I assume I would need to modify web.xml and possible struts-config.xml - is that correct? If yes, what modifications are needed?

Thanks a lot for any help.

Regards,
Kushal