Use Jetty (latest 9.x requires JDK7)
bash> mvn org.eclipse.jetty:jetty-maven-plugin:run -Djetty.port=8081
Or use Jetty on JDK 6
bash> mvn org.mortbay.jetty:jetty-maven-plugin:8.1.12.v20130726:run -Djetty.port=8081
Or use Tomcat
bash> mvn org.apache.tomcat.maven:tomcat7-maven-plugin:run -Dmaven.tomcat.port=8081