Some info samples from the logs, that as far as I can tell show that it should work:
17:17:37.845 [main] INFO RequestMappingHandlerMapping: Mapped "{[/endpoint],methods=[GET],params=[],headers=[],consumes=[],produces=[application/json],custom=[]}" onto public org.springframework.http.ResponseEntity<com.company.api.Response> com.company.api.Controller.Method(javax.servlet.http.HttpServletRequest,java.lang.String) throws java.io.IOException
17:17:37.852 [main] INFO RequestMappingHandlerMapping: Mapped "{[/api-docs],methods=[GET],params=[],headers=[],consumes=[],produces=[],custom=[]}" onto public org.springframework.http.ResponseEntity<com.wordnik.swagger.model.ResourceListing> com.mangofactory.swagger.controllers.DefaultSwaggerController.getResourceListing(java.lang.String)
17:17:37.853 [main] INFO RequestMappingHandlerMapping: Mapped "{[/api-docs/{swaggerGroup}/{apiDeclaration}],methods=[GET],params=[],headers=[],consumes=[],produces=[],custom=[]}" onto public org.springframework.http.ResponseEntity<com.wordnik.swagger.model.ApiListing> com.mangofactory.swagger.controllers.DefaultSwaggerController.getApiListing(java.lang.String,java.lang.String)
...
17:17:39.820 [main] INFO ApiListingReferenceScanner: Request mapping: MethodName belongs to groups: [[ResourceGroup{groupName='swagger-group'}]]
17:17:39.820 [main] INFO ApiListingReferenceScanner: Adding resource to group:ResourceGroup{groupName='swagger-group'} with description:Description for handler method:MethodName
17:17:39.820 [main] INFO ApiListingReferenceScanner: RequestMappingInfo did not match any include patterns: | {[],methods=[GET],params=[],headers=[],consumes=[],produces=[application/json],custom=[]}
17:17:39.821 [main] INFO ApiListingReferenceScanner: RequestMappingInfo did not match any include patterns: | {[/api-docs],methods=[GET],params=[],headers=[],consumes=[],produces=[],custom=[]}
17:17:39.821 [main] INFO ApiListingReferenceScanner: RequestMappingInfo did not match any include patterns: | {[/api-docs/{swaggerGroup}/{apiDeclaration}],methods=[GET],params=[],headers=[],consumes=[],produces=[],custom=[]}
...
17:17:39.824 [main] INFO ApiListingReferenceScanner: Created resource listing Path: /swagger/swagger-group Description: description Position: 0
17:17:39.845 [main] INFO SwaggerApiResourceListing: Added a resource listing with (1) api resources:
17:17:39.845 [main] INFO SwaggerApiResourceListing: Description at location: /api-docs/swagger-group
17:17:39.845 [main] WARN SwaggerPluginAdapter: SwaggerSpringMvcPlugin have already been initialized!