How can I calculate a time difference in Java?

Java 8 has a cleaner solution - Instant and Duration

Example:

import java.time.Duration;
import java.time.Instant;
...
Instant start = Instant.now();
//your code
Instant end = Instant.now();
Duration timeElapsed = Duration.between(start, end);
System.out.println("Time taken: "+ timeElapsed.toMillis() +" milliseconds");

String time1 = "16:00:00";
String time2 = "19:00:00";

SimpleDateFormat format = new SimpleDateFormat("HH:mm:ss");
Date date1 = format.parse(time1);
Date date2 = format.parse(time2);
long difference = date2.getTime() - date1.getTime(); 

Difference is in milliseconds.

I modified sfaizs post.