Using libtiled-java is one option, another would be to write your own
TMX parser. What to prefer depends on your goal. Writing your own can
be preferable either as a learning experience or because you could
write a parser that's more suitable for your game or application.
While there is no real tutorial, there's two sources of help with
libtiled-java. One is the example TMX viewer application located at
https://github.com/bjorn/tiled/tree/master/util/java/tmxviewer-java.
The other is the javadoc style comments in the source code from which
HTML documentation can be generated using 'ant javadoc'.
Regards,
Bjørn