There are multiple things you're going to need to put together here to get this done. First you're going to need to go get the HTML. The way I normally do this is with Apache's HttpClient. A quick start guide is here: HttpClient and does a better job of describing how to use HttpClient than I could ever hope to create. Their documentation is pretty good.
That will allow you to get the data back something like this:
HttpClient client = new DefaultHttpClient();
HttpPost post = new HttpPost(URL);
//
// here you can do things like add parameters used when connecting to the remote site
//
HttpResponse response = client.execute(post);
BufferedReader rd = new BufferedReader(new InputStreamReader(response.getEntity().getContent()));
From there you can do just about anything with it as its basically a StringBuffer.
In order to actually parse and "scrape" the data I recommend using Jsoup
It will allow you do do a lot of things with the HTML treating it very much like a DOM.
Document document = Jsoup.parse(HTML);
// OR
Document doc = Jsoup.parseBodyFragment(HTML);
Elements elements = doc.select("#SOME_ID");