Dynamic content replacement while redirecting URL

I am currently learning about web development and I am thinking about dynamically changing content on my web application. For example I have a header and side navbar in the same all the time and only the content is changing / scrolling. If I redirect from page form A to form B I want it to be replaced only in the content area, the rest of it such as header and navbar should not be changed. How can I achieve such behaviour, what are the best ways to do that?

I am using Java with SpringMVC and JSP so far, should it be done for example via <jsp:include="url"/>? Any hints would be useful. I rather don't want to use angular for now.