You can use replace and replaceAll with regular expressions.
String[] strings = {"a", "b", "c"};
String result = Arrays.asList(strings).toString().replaceAll("(^\\[|\\]$)", "").replace(", ", ",");
Because Arrays.asList().toString() produces: "[a, b, c]", we do a replaceAll to remove the first and last brackets and then (optionally) you can change the ", " sequence for "," (your new separator).
A stripped version (fewer chars):
String[] strings = {"a", "b", "c"};
String result = ("" + Arrays.asList(strings)).replaceAll("(^.|.$)", "").replace(", ", "," );
Regular expressions are very powerful, specially String methods "replaceFirst" and "replaceAll". Give them a try.
