I am able to resolve this issue and below Oracle link helped me to resolve it

http://docs.oracle.com/javase/7/docs/technotes/guides/security/jgss/tutorials/Troubleshooting.html

GSSException: No valid credentials provided (Mechanism level: Failed to find any Kerberos Ticket)

Solution is we need to specify -Djavax.security.auth.useSubjectCredsOnly=false while executing my Java program from command line

That means

java -Djavax.security.auth.useSubjectCredsOnly=false ...........

My Java program internally uses Hive JDBC API.

This is what I did:

1. kinit from command line

2. Run the Java program with above -D property and also in the JDBC URL specify the appropriate Hive JDBC URL with principal name etc