The Calyxo Panels custom tag library contains tags to include panels, access parameters and iterate over lists. In a JSP file, just associate the prefix you want to use for the tags with URI http://calyxo.odysseus.de/jsp/panels:
<jsp:root xmlns:jsp="http://java.sun.com/JSP/Page" version="2.0" xmlns:panels="http://calyxo.odysseus.de/jsp/panels"> ... </jsp:root>
Since the tag library descriptor is contained in the Calyxo Panels jar file, it is already available to applications. The container will automatically find it. For documentation purposes, a copy is located in CALYXO_HOME/calyxo-panels/conf/share/calyxo-panels.tld.