I've been googling this topic for a while with not much success. I finally decided to try it out on my own and managed to get it working. I put together a document that walks through the whole setup and configuration. Unfortunately, I can't attach the pdf file as the attach option in the "More tools" is not available to me. Also the file is 3.87MB in size as it contains detailed screenshots. So I uploaded it to google docs. The link is found below.

This document is a guide for integrating Oracle SOA Suite 10g (10.1.3.4) BPEL process with BAM11g. The SOA Suite 10g is deployed on a Weblogic Application Server 9.2 MLR8. The BAM server is a standard BAM11g install. I used JDeveloper 10.1.3.4, configured to integrate directly to the BAM11g server instance to develop the sample BPEL process used in the guide.

Oracle SOA Suite 10g (BPEL) and BAM11g Integration Guide