I know this is an old question - but I found it when looking for something similar!
If you look in the lwip contrib directory (http://download.savannah.gnu.org/releases/lwip/) there are some example applications - including a tcp (and udp) echo server.
You don't say what device you are using or whether or not you are using an RTOS, so it is hard to provide example code. However, if you are not using an RTOS I would highly recommend you start! My experience of using the lwip raw api (without an rtos) is that it is difficult to read data from the outside world (e.g. using interrupts) without things falling over.
HTH,
Alex