How do I setup Apache and Tomcat for JSP and SEO-friendly clean URLs

Question

Hey guys,

I'm looking for is a "Best Practices" approach for setting up Apache httpd (2.2) with Tomcat 6 so that we can:

1. Allow JSP files to be served for directory listings (e.g. http:/www.example.com displays index.jsp via DirectoryIndex index.jsp).

2. Hide the extensions of all URLs (both *.html and *.php files served by Apache and *.jsp served by Tomcat) to make them SEO friendly. So for instance, http:/www.example.com/about-us might resolve to about-us.jsp.

What I'm looking for is the "recommended" approach to do this (examples would be phenomenal). I'm aware of mod_rewrite, mod_jk, mod_proxy_ajp, and mod_proxy_http, but what I'm looking is pros/cons and any experience you folks may have with one or the other and how you went about setting it all up.

Any and all advice welcome.

Thanks