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You'll want to install mod_jk (mod_jk2 is an abandoned project, don't use it) in Apache. That will connect any processing of jsp's with Tomcat (which you'll also have to install). Tomcat is the defacto open source server for servlets and JSPs. If you want a J2EE server, I'd suggest looking into JBoss, which is based around Tomcat for the Servlet/JSP aspect, but serves up EJB's itself.
Catalina is synonymous with Tomcat - Catalina is the engine name.
The absolute best book on this stuff that I've come across is actually an exam study kit entitled "SCWCD Exam Study Kit" my Hanumant Deshmukh, Jignesh Malavia and Matthew Scarpino. I've read a number of JSP/Servlet books, and this is the one that presents all the information you need to know in the easiest to understand manner. Be sure to get the Second Edition, which was just released a couple months ago.
Note that this isn't a Tomcat book, but rather a book on J2EE technology in general. It'll tell you what to do with an already-setup Tomcat, but not how to set it up in the first place - that requires a different book. I would advise against an all-in-one book to the subject, as it would end up being a jack-of-all-trades, master-of-none deal.
The easiest thing in the world, though, is to run Tomcat without Apache. Tomcat will work as a webserver just fine - it just isn't as versitile as Apache. I'd prototype on a stand-alone Tomcat server.
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