Self plug: I have just released a new Java HTML parser: jsoup. I mention it here because I think it will do what you are after.
Its party trick is a CSS selector syntax to find elements, e.g.:
String html = "<html><head><title>First parse</title></head>"
+ "<body><p>Parsed HTML into a doc.</p></body></html>";
Document doc = Jsoup.parse(html);
Elements links = doc.select("a");
Element head = doc.select("head").first();
See the Selector javadoc for more info.
This is a new project, so any ideas for improvement are very welcome!