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Assuming you are using the Zend Framework 2 and want to implement a REST endpoint in a quick and fully functional way.
ZF-Rest is, more or less, the official rest module for zf2. But, the documentation is not available - nor planned right now. Thats why I this blog entry will boost your knowledge and speed up the time until you have finished your first zf2 rest endpoint.

Installation and Setup

#add the following line to you composer.json
"zfcampus/zf-rest": "1.0.3"

You need to add the following entries in your to "config/autload/application.config".

 array(
        //your modules
        'ZF\ApiProblem',
        'ZF\ContentNegotiation',
        'ZF\Hal',
        'ZF\MvcAuth',
        'ZF\OAuth2',
        'ZF\Rest'
    );

Minimal Configuration (module.config.php)

array key "zf-rest"

//MyRestController is a virtual Controller 
'My\\Module\\Namespace\\MyRestController' => array(
    //mandatory - available are GET, POST, PUT, PATCH, DELETE
    'collection_http_methods'       => array(
        'GET'
    ),
    //mandatory - available are GET, POST, PUT, PATCH, DELETE
    'entity_http_methods'           => array(
        'GET'
    ),
    //virtual name - its the name the collection entries are getting in the HAL-repesentation
    'collection_name'               => 'items',
    'route_name'                    => 'my_rest_route_name',
    'route_identifier_name'         => 'id',
    //this is the only file you really need to code/implement
    'listener'                      => 'My\\Module\\Namespace\\MyListener'
),

array key "router/routes"

'my_rest_route_name' => array(
    'type' => 'Zend\Mvc\Router\Http\Segment',
    'options' => array(
        'route' => '/my/rest/endpoint/[/:id]',
        'defaults' => array(
            //MyRestController is a virtual Controller
            //The name is needed to map the module configuration to the endpoint
            'controller' => 'My\\Module\\Namespace\\MyRestController'
        )
    ),

Optional Configuration Values

Based on the source code from RestControllerFactory.php, following configuration keys are optional (mention as mandatory in the current README.md).

• resource_identifiers
• identifier
• controller_class
• entity_class
• collection_class