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How to setup proxy for Maven?

I have installed Maven and trying to do a build through Jenkins with Maven (pom.xml).
In the Jenkins build log file, I could see that there are connection timeout errors while trying to install Maven dependencies.
Since the server is in a corporate network, I have to configure a proxy for Maven to connect to the external servers.
How to configure proxy for Maven?
Setting http_proxy/https_proxy environment variable does not have any impact.