Is possible to use tokens from auth0 for authentication?

Is there a way to use java with auth0? I have an ember app that get it's token from auth0.com, but I can't find any documentation of how to consume that token on java api.

I can do it by generating the token from java api, but is not what I want. Here are the steps I want to have:

1) Ember app get access token from auth0.com (not from java api)

2) Send each request to java api with the token bearer in the header

3) Java should interpret the token and then serve the requested data if all is good

Thanks.