Setting up a new Struts2 Project in Netbeans
This question has been answered on Stack Overflow in a step by step way, it creates a maven project which if you have not had tried out maven yet it's time to do so: Setting up a new Struts2 Project in Netbeans
The general instructions for setting up a Struts2 project are found on the Struts2 site, covering both ant and maven.