This is well explained in the following article. I liked it in a way this article is designed:
Before you go to the article, here is what the article covers:
1. Developing XML-RPC Client Applications
Using an XML-RPC Proxy
Using the XML-RPC Client
Using the XML-RPC Client
2. Implementing the XML-RPC Servlet
Configuring the XML-RPC Servlet
3. XML-RPC and JavaScript
The link to the article: XML RPC Article