The recipient needs to be told what the IV is. Look at the section on CBC in this Wikipedia entry: you can see that an encrypted n-block message consists of n+1 blocks, the additional block being the IV. There is no standard protocol for transmitting it, but every code i've seen does this by prepending the IV to the message, which really is the natural thing to do and thanks to the error-correcting properties of CBC works even when the code gets it slightly wrong. For example, you can find code in the wild that uses a constant IV but prepends the plain text with a random block, which basically does the same thing in a different way. Sometimes you'll find that kind of code even in books, like the InlineIvCBCExample.java in chapter 2 of David Hook's otherwise very good book.
I recommed the following way of doing AES/CBC/PKCS7Padding:
byte[] plaintext = ...;
byte[] key = ...;
// get iv
SecureRandom rnd = new SecureRandom();
byte[] iv = rnd.getBytes(16);
IvParameterSpec ivSpec = new IvParameterSpec(iv);
// encrypt
Cipher cipher = Cipher.getInstance("AES/CBC/PKCS7Padding");
cipher.init(Cipher.ENCRYPT_MODE, key, ivSpec);
byte[] ciphertext = cipher.doFinal(plaintext);
// copy to result
byte[] result = new byte[iv.length + ciphertext.length];
System.arraycopy(iv, 0, result, 0, iv.length);
System.arraycopy(ciphertext, 0 , result, iv.length, ciphertext.length);