Create an application with Maven:

mvn archetype:generate -DgroupId=com.mycompany.project
   -DartifactId=gremlin-example
   -DarchetypeArtifactId=maven-archetype-quickstart
   -DinteractiveMode=false

Add dependencies on janusgraph-core and gremlin-driver to the pom.xml file:

...
<dependencies>
  <dependency>
    <groupId>org.janusgraph</groupId>
    <artifactId>janusgraph-core</artifactId>
    <version>0.4.0</version>
  </dependency>
  <dependency>
    <groupId>org.apache.tinkerpop</groupId>
    <artifactId>gremlin-driver</artifactId>
    <version>3.4.1</version>
  </dependency>
...
</dependencies>
...

Add two configuration files, conf/remote-graph.properties and conf/remote-objects.yaml:

conf/remote-graph.properties. 

gremlin.remote.remoteConnectionClass=org.apache.tinkerpop.gremlin.driver.remote.DriverRemoteConnection
gremlin.remote.driver.clusterFile=conf/remote-objects.yaml
gremlin.remote.driver.sourceName=g

conf/remote-objects.yaml. 

hosts: [localhost]
port: 8182
serializer: { className: org.apache.tinkerpop.gremlin.driver.ser.GryoMessageSerializerV1d0,
              config: { ioRegistries: [org.janusgraph.graphdb.tinkerpop.JanusGraphIoRegistry] }}

Create a GraphTraversalSource which is the basis for all Gremlin traversals:

Graph graph = EmptyGraph.instance();
GraphTraversalSource g = graph.traversal().withRemote("conf/remote-graph.properties");
// Reuse 'g' across the application
// and close it on shut-down to close open connections with g.close()

Execute a simple traversal:

Object herculesAge = g.V().has("name", "hercules").values("age").next();
System.out.println("Hercules is " + herculesAge + " years old.");

next() is a terminal step that submits the traversal to the Gremlin Server and returns a single result. Other terminal steps can be found in TinkerPop’s reference documentation.