One way to do this is to use the EJB3 annotation support in Hibernate which will of course allow you to use all the power the API offers in terms of mapping onto legacy systems. Clearly this is all not that exciting so far, what is really exciting is that even though the EJB3 entities you've created are written in Java and mapped using Java persistence annotations you can still use all those fantastic dynamic finder/persitence methods to manipulate your domain model from a Grails controller or service class!
Some examples of these in action are listed below, Grails uses the properties of the domain class itself (combined with the wonderful Criteria API) to implement the finders:
def a = new Author(name:'Stephen King').save()
def b = new Book(author:a, title:'The Stand').save()
def results = Book.findAllByTitle("The Stand")
results = Book.findAllByTitleLike("Harry Pot%")
results = Book.findAllByReleaseDateBetween( firstDate, secondDate )
results = Book.findAllByReleaseDateGreaterThan( someDate )
results = Book.findAllByTitleLikeOrReleaseDateLessThan( "%Something%", someDate )
// find by relationship
results = Book.findAllByAuthor( Author.findByName('Stephen King') )
This is one of the awesome features of Groovy's Meta Object Protocol (MOP), it allows you to add new methods, properties,constructors etc. to any existing Java class, it doesn't have to extend GroovyObject or have any knowledge of the Groovy runtime environment. Think of it as AOP without the byte code manipulation.
Taking this approach is quite appealling at it allows the blended development I mentioned in the talk. Mixing dynamic and static typing is the way to go in my opinion. The debate between these two is a bit of a red herring. This way you have all the power of static typing with its refactoring capability in IDEs, plus the ability to use a dyanmic framework like Grails as the view/controller layer in your web application.
You can also then re-use your domain model across tiers or from regular servlets or via a Swing interface very simply because it is still in Java. The main target for Grails has always been to create a framework with the essence of Rails, but taking Java integration to a new level. Features like this are exactly what is helping us achieve this very goal.