Alternatively, you can add the jar file into your spark shell. Download the spark-xml_2.10-0.2.0.jar jar file and copy into the spark's class path and add the jar file in your spark shell using the :cp command as

:cp spark-xml_2.10-0.2.0.jar  
/*
  jar file will get imported into the spark shell
  now you can use this jar file anywhere in your code inside the spark shell.
*/
val rd = spark.read.format("com.databricks.spark.xml").load("C:/Users/kumar/Desktop/d.xml")

Databricks has released new version to read xml to Spark DataFrame

<dependency>
     <groupId>com.databricks</groupId>
     <artifactId>spark-xml_2.12</artifactId>
     <version>0.6.0</version>
 </dependency>

Input XML file I used on this example is available at GitHub repository.

val df = spark.read
      .format("com.databricks.spark.xml")
      .option("rowTag", "person")
      .xml("persons.xml")

Schema

root
 |-- _id: long (nullable = true)
 |-- dob_month: long (nullable = true)
 |-- dob_year: long (nullable = true)
 |-- firstname: string (nullable = true)
 |-- gender: string (nullable = true)
 |-- lastname: string (nullable = true)
 |-- middlename: string (nullable = true)
 |-- salary: struct (nullable = true)
 |    |-- _VALUE: long (nullable = true)
 |    |-- _currency: string (nullable = true)

Outputs:

+---+---------+--------+---------+------+--------+----------+---------------+
|_id|dob_month|dob_year|firstname|gender|lastname|middlename|         salary|
+---+---------+--------+---------+------+--------+----------+---------------+
|  1|        1|    1980|    James|     M|   Smith|      null|  [10000, Euro]|
|  2|        6|    1990|  Michael|     M|    null|      Rose|[10000, Dollor]|
+---+---------+--------+---------+------+--------+----------+---------------+

Note that Spark XML API has some limitations and discussed here Spark-XML API Limitations

Hope this helps !!