server.port=8443
server.ssl.key-store=path/to/server.jks
server.ssl.trust-store=path/to/trusted.jks
server.ssl.key-store-password=22222222
server.ssl.trust-store-password=22222222
server.ssl.client-auth=need

System.setProperty("javax.net.ssl.keyStore","path/to/client.jks");
System.setProperty("javax.net.ssl.keyStorePassword","22222222");
System.setProperty("javax.net.ssl.trustStore","path/to/trusted.jks");
System.setProperty("javax.net.ssl.trustStorePassword","22222222");

-Djavax.net.debug=ssl

trustStore is: /path/to/trusted.jks

adding as trusted cert:
  Subject: EMAILADDRESS=ca@ca.com, CN=ca, OU=ca, O=ca, L=ca, ST=ca, C=RU
  Issuer:  EMAILADDRESS=ca@ca.com, CN=ca, OU=ca, O=ca, L=ca, ST=ca, C=RU
  Algorithm: RSA; Serial number: 0x9952f188496b2545
  Valid from Wed Jun 28 15:39:04 MSK 2017 until Sat Jun 26 15:39:04 MSK 2027

*** ClientHello, TLSv1.2
//ok
*** ServerHello, TLSv1.2
//ok
*** Certificate chain
//my localhost server cert
***
Found trusted certificate:

 Version: V3
 Subject: EMAILADDRESS=ca@ca.com, CN=ca, OU=ca, O=ca, L=ca, ST=ca, C=RU
 Signature Algorithm: SHA256withRSA, OID = 1.2.840.113549.1.1.11

*** ECDH ServerKeyExchange
//ok
*** CertificateRequest
Cert Types: RSA, DSS, ECDSA
Supported Signature Algorithms: SHA512withECDSA, SHA512withRSA, SHA384withECDSA, SHA384withRSA, SHA256withECDSA, SHA256withRSA, SHA256withDSA, SHA224withECDSA, SHA224withRSA, SHA224withDSA, SHA1withECDSA, SHA1withRSA, SHA1withDSA
Cert Authorities:

*** ServerHelloDone

*** Certificate chain
chain [0] = [
[
  Version: V3
  Subject: EMAILADDRESS=client3@mail.ru, CN=client3, OU=client3, O=client3, L=client3, ST=client3, C=RU
  Signature Algorithm: SHA256withRSA, OID = 1.2.840.113549.1.1.11

chain [1] = [
[
  Version: V3
  Subject: EMAILADDRESS=ca@ca.com, CN=ca, OU=ca, O=ca, L=ca, ST=ca, C=RU
  Signature Algorithm: SHA256withRSA, OID = 1.2.840.113549.1.1.11
*** ECDHClientKeyExchange
*** CertificateVerify
*** Finished

DEBUG org.springframework.web.client.RestTemplate - GET request for "https://localhost:8443/chat/info" resulted in 200 (null)
DEBUG org.springframework.web.socket.sockjs.client.WebSocketTransport - Starting WebSocket session on wss://localhost:8443/chat/437/f6158d1ee84b4c53ba55a6810b2f92a8/websocket
DEBUG org.springframework.web.socket.client.standard.StandardWebSocketClient -
Connecting to wss://localhost:8443/chat/437/f6158d1ee84b4c53ba55a6810b2f92a8/websocket

*** CertificateRequest
Cert Types: RSA, DSS, ECDSA
Supported Signature Algorithms: SHA512withECDSA, SHA512withRSA, SHA384withECDSA, SHA384withRSA, SHA256withECDSA, SHA256withRSA, SHA256withDSA, SHA224withECDSA, SHA224withRSA, SHA224withDSA, SHA1withECDSA, SHA1withRSA, SHA1withDSA
Cert Authorities:
<EMAILADDRESS=ca@ca.com, CN=ca, OU=ca, O=ca, L=ca, ST=ca, C=RU>
*** ServerHelloDone
Warning: no suitable certificate found - continuing without client authentication
*** Certificate chain
<Empty>
***

ttps-jsse-nio-8443-exec-9, fatal error: 42: null cert chain
javax.net.ssl.SSLHandshakeException: null cert chain

env -i curl -E ./chain.pem --key ./client.key --cacert ca.crt --verbose --user test:test  https://localhost:8443/

*   Trying 127.0.0.1...
* Connected to localhost (127.0.0.1) port 8443 (#0)
* found 1 certificates in ca.crt
* found 704 certificates in /etc/ssl/certs
* ALPN, offering http/1.1
* SSL connection using TLS1.2 / ECDHE_RSA_AES_128_GCM_SHA256
*    server certificate verification OK
*    server certificate status verification SKIPPED
*    common name: localhost (matched)
*    server certificate expiration date OK
*    server certificate activation date OK
*    certificate public key: RSA
*    certificate version: #3
*    subject:

C=RU,ST=localhost,
L=localhost,O=localhost,OU=localhost,
CN=localhost,EMAIL=localhost@mail.com
*    start date: Wed, 28 Jun 2017 13:07:14 GMT
*    expire date: Thu, 28 Jun 2018 13:07:14 GMT
*    issuer: C=RU,ST=ca,L=ca,O=ca,OU=ca,CN=ca,EMAIL=ca@ca.com
*    compression: NULL
* ALPN, server did not agree to a protocol
* Server auth using Basic with user 'kitcpp'
> GET / HTTP/1.1
> Host: localhost:8443
> Authorization: Basic a2l0Y3BwOmtpdGNwcA==
> User-Agent: curl/7.47.0
> Accept: */*
>
< HTTP/1.1 200
< X-Content-Type-Options: nosniff
< X-XSS-Protection: 1; mode=block
< Cache-Control: no-cache, no-store, max-age=0, must-revalidate
< Pragma: no-cache
< Expires: 0
< Strict-Transport-Security: max-age=31536000 ; includeSubDomains
< X-Frame-Options: DENY
< Set-Cookie: JSESSIONID=67BACDE78AF68627516075B29C987C86; Path=/; Secure; HttpOnly
< Last-Modified: Wed, 28 Jun 2017 16:29:53 GMT
 < Accept-Ranges: bytes
< Content-Type: text/html;charset=UTF-8
< Content-Language: en-US
< Content-Length: 6935
< Date: Fri, 30 Jun 2017 09:30:02 GMT
<
<!DOCTYPE html>
<html>
<head>
//and so on (my web chat page)