I'd start by deploying and examining the struts-examples.war file that comes with the Struts download. Then, I'd look for some tools. If you're already using Eclipse, I'd suggest using MyEclipse. It has some good tools that support Struts development. NetBeans 5.0 also has some nifty struts tools. I'd then pick a tutorial geared specifically toward the tool you're going to be using.
This should get you going. If you're going to be doing heavy-duty struts development, I'd also suggest getting one of Struts Development books out there. Search by author for Ted Husted. His stuff is good.