Wikipedia's "Server-side JavaScript" article lists numerous implementations, many of which are based on Mozilla's Rhino JavaScript-to-Java converter, or its cousin SpiderMonkey (the same engine as found in Firefox and other Gecko-based browsers). In particular, something simple like mod_js for Apache may suit your needs.
If you're just using plain JS, Rhino should do the trick. But if the JS code is actually calling DOM methods and so on, you're going to need a full-blown browser. Crowbar might help you.
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