At the moment the current version of TomEE is 1.7 which is based on Tomcat 7 and supports JEE6. The only thing you have to do is to include and configure the tomee-maven-plugin in your pom.xml:
<plugin>
   <groupId>org.apache.openejb.maven</groupId>
   <artifactId>tomee-maven-plugin</artifactId>
   <version>1.7.1</version>
   <configuration>
      <tomeeVersion>1.7.1</tomeeVersion>
      <tomeeClassifier>plus</tomeeClassifier>
      <synchronization>
         <extensions>
            <extension>.class</extension>
         </extensions>
      </synchronization>
      <reloadOnUpdate>true</reloadOnUpdate>
   </configuration>
</plugin>
Depending on the features you need TomEE supports different profiles. To start a TomEE server and run your application simply type
mvn clean install tomee:run
The synchronization block in the configuration is optional and allows you to redeploy your application automatically after each mvn clean install of your application.
