<dependencies>
    <dependency>
        <groupId>javax.ws.rs</groupId>
        <artifactId>javax.ws.rs-api</artifactId>
        <version>2.0.1</version>
    </dependency>

    <dependency>
        <groupId>org.glassfish.jersey.core</groupId>
        <artifactId>jersey-common</artifactId>
        <version>2.19</version>
    </dependency>

    <dependency>
        <groupId>org.glassfish.jersey.core</groupId>
        <artifactId>jersey-client</artifactId>
        <version>2.19</version>
    </dependency>
</dependencies>

import java.io.IOException;

import javax.ws.rs.client.Client;
import javax.ws.rs.client.ClientBuilder;
import javax.ws.rs.client.Invocation;
import javax.ws.rs.client.WebTarget;
import javax.ws.rs.core.Cookie;
import javax.ws.rs.core.MediaType;
import javax.ws.rs.core.Response;

import org.glassfish.jersey.filter.LoggingFilter;

public class Test {
    public static void main(String[] args) throws IOException {
        final String url = "http://localhost:8080/auth/jsp/";

        final String cookieName = "JSESSIONID";
        final String cookieValue = "96B50422670CB9C7ECB68F873B9B36D0";

        Cookie cookie = new Cookie(cookieName, cookieValue);

        Client client = ClientBuilder.newClient();

        client.register(new LoggingFilter());

        WebTarget webTarget = client.target(url);

        Invocation.Builder invocationBuilder = webTarget.request(MediaType.TEXT_HTML);

        invocationBuilder = invocationBuilder.cookie(cookie);

        Response response = invocationBuilder.get();

        System.out.println(response.getStatus());

        System.out.println(response.readEntity(String.class));
    }
}

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.net.HttpURLConnection;
import java.net.URL;

import javax.ws.rs.core.HttpHeaders;
import javax.ws.rs.core.MediaType;

public class Test {
    public static void main(String[] args) throws IOException {
        final String targetURL = "http://localhost:8080/auth/jsp/";

        final String cookieName = "JSESSIONID";
        final String cookieValue = "96B50422670CB9C7ECB68F873B9B36D0";

        HttpURLConnection connection = null;
        try {
            final URL url = new URL(targetURL);

            connection = (HttpURLConnection) url.openConnection();

            connection.setRequestMethod("GET");

            final String cookie = cookieName + "=" + cookieValue;

            connection.setRequestProperty(HttpHeaders.COOKIE, cookie);
            connection.setRequestProperty("Accept", MediaType.TEXT_HTML);

            // response code
            System.out.println(connection.getResponseCode());

            // response body
            if (connection.getInputStream() != null) {
                final StringBuilder response = new StringBuilder();
                try (final InputStream inputStream = connection.getInputStream();
                        final InputStreamReader inputStreamReader = new InputStreamReader(inputStream);
                        final BufferedReader bufferedReader = new BufferedReader(inputStreamReader)) {
                    String line;
                    while ((line = bufferedReader.readLine()) != null) {
                        response.append(line);
                        response.append('\n');
                    }
                }
                System.out.println(response.toString());
            }
        } catch (Exception e) {
            e.printStackTrace();
        } finally {
            if (connection != null) {
                connection.disconnect();
            }
        }
    }
}