That is the source code for Ants' SCP task. The code in the "execute" method is where the nuts and bolts of it are. This should give you a fair idea of what is required. It uses JSch i believe.
Alternatively you could also directly execute this Ant task from your java code.
I looked at a lot of these solutions and didn't like many of them. Mostly because the annoying step of having to identify your known hosts. That and JSCH is at a ridiculously low level relative to the scp command.
jsCH has worked great for me. Below is an example of a method that will connect to sftp server and download files to specified directory. It is recommended to stay away from disabling StrictHostKeyChecking. Although a little bit more difficult to set up, for security reasons specifying the known hosts should be the norm.
2) Extract the downloaded file and find the JAR ant-jsch.jar ("apache-ant-1.9.4/lib/ant-jsch.jar"). Add this JAR in your project. Also ant-launcher.jar and ant.jar.