How can i convert epoch time to date format?

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if i have string that contain timemilis format,
how to convert the string to date format?

Thanks

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Start here: https://docs.oracle.com/javase/8/docs/api/index.html?java/sql/Date.html

And here: http://docs.groovy-lang.org/latest/html/groovy-jdk/java/util/Date.html