After some research, I found the following steps:
For client keystore:
openssl pkcs12 -export -out client.pfx -inkey client_key.pem -in client_cert.crt
For client truststore:
keytool -import -file cacert.crt -alias cacert -keystore ClientTruststore
keytool -import -file client_cert.crt -alias servercert -keystore ClientTruststore
For server keystore:
openssl pkcs12 -export -out server_key.p12 -inkey server_key.pem -in server_cert.crt
SET PASSWORD=MyPassword
keytool -genkey -alias server -keyalg RSA -validity 3650 -keystore server.keystore -storepass %PASSWORD% -keypass %PASSWORD%
keytool -importcert -alias rootCA -keystore server.keystore -storepass %PASSWORD% -keypass %PASSWORD% -file cacert.crt
keytool -v -importkeystore -srckeystore server_key.p12 -srcstoretype PKCS12 -destkeystore server.keystore -deststoretype JKS -deststorepass %PASSWORD%
For server truststore:
keytool -import -file cacert.crt -alias cacert -keystore ServerTruststore
keytool -import -file client_cert.crt -alias client -keystore ServerTruststore
I tested it with a very simple SSL Client/Server by running the program:
java -Djavax.net.ssl.keyStore=server.keystore -Djavax.net.ssl.keyStorePassword=MyPassword -Djavax.net.ssl.trustStore=ServerTruststore -Djavax.net.ssl.trustStorePassword=MyPassword -jar HelloServer.jar
java -Djavax.net.ssl.keyStore=client.pfx -Djavax.net.ssl.keyStorePassword=MyPassword -Djavax.net.ssl.trustStore=ClientTruststore -Djavax.net.ssl.trustStorePassword=MyPassword -jar HelloClient.jar
It is working fine.
Any suggestions of improvements are welcomed.