There is also torque (http://db.apache.org/torque/) which I personally prefer because it's simpler, and does exactly what I need.
With torque I can define a database with mysql(Well I use Postgresql, but Mysql is supported too) and Torque can then query the database and then generate java classes for each table in the database. With Torque you can then query the database and get back Java objects of the correct type.
It supports where clauses (Either with a Criteria object or you can write the sql yourself) and joins.
It also support foreign keys, so if you got a User table and a House table, where a user can own 0 or more houses, there will be a getHouses() method on the user object which will give you the list of House objects the user own.
To get a first look at the kind of code you can write, take a look at http://db.apache.org/torque/releases/torque-3.3/tutorial/step5.html which contains examples which show how to load/save/query data with torque. (All the classes used in this example are auto-generated based on the database definition).