First you'll need something to help you with 3D rendering, for simply drawing a cube I'd suggest
LWJGL, then I'd take a look at some tutorials for whatever tool you choose to use for your 3D rendering. (
LWJGL Tutorials)
Some of the other 3D rendering tools can be found in JGO's
Java Gaming Resources section under 3D Enginges and Libraries
EDIT:
I forgot to mention that LWGL is simply a Java binding to OpenGL, it isn't a full game library. This means you'll have to write more boilerplate code than you would if you chose a 3D game library. LWJGL is still a good choice IMHO