Converting ISO 8601-compliant String to java.util.Date

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The way that is blessed by Java 7 documentation:

DateFormat df1 = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ");
String string1 = "2001-07-04T12:08:56.235-0700";
Date result1 = df1.parse(string1);

DateFormat df2 = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSXXX");
String string2 = "2001-07-04T12:08:56.235-07:00";
Date result2 = df2.parse(string2);

You can find more examples in section Examples at SimpleDateFormat javadoc.

UPD 02/13/2020: There is a completely new way to do this in Java 8

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