Parse nested XML nodes in Android

I have XML file like this:

<catalog>
   <category>
      <books>
         <book>
            <id>book1</id>
            <description>short description</description>
            <pages>number of pages</pages>
            <author>Anonymous</author>
            <name>Book title</name>
         </book>
         <book>
            <id>book2</id>
            <description>short description</description>
            <pages>number of pages</pages>
            <author>Anonymous</author>
            <name>Book title</name>
         </book>
      </books>
   </category>
   <category>
      <books>
         <book>
            <id>book3</id>
            <description>short description</description>
            <pages>number of pages</pages>
            <author>Anonymous</author>
            <name>Book title</name>
         </book>
      </books>
   </category>
</catalog>

And I need an ArrayList with Categories and ArrayList with Books. Here are my Book and Category classes:

public class Book 
{
    private String id;
    private String description;
    private String pages;
    private String author;
    private String name;
}
public class Category {
    private ArrayList<Book> books;
    private String name;
}

What is the easiest way to do this? Using only android libraries and stuff would be better than using some libraries not for commercial use for my task. I tried some DOM parsers, but it didn't work good.