Consider following code:
ArrayList aList = new ArrayList();
aList.add(2134);
aList.add(3423);
aList.add(4234);
Building off Mateusz's Java 8 example, there's an example in the StringJoiner JavaDoc that nearly does what OP wants. Slightly tweaked it would look like this:
List numbers = Arrays.asList(1, 2, 3, 4);
String commaSeparatedNumbers = numbers.stream()
.map(i -> i.toString())
.collect( Collectors.joining(",","(",")") );