How to convert byte array to string and vice versa?

The "proper conversion" between byte[] and String is to explicitly state the encoding you want to use. If you start with a byte[] and it does not in fact contain text data, there is no "proper conversion". Strings are for text, byte[] is for binary data, and the only really sensible thing to do is to avoid converting between them unless you absolutely have to.

If you really must use a String to hold binary data then the safest way is to use Base64 encoding.

Your byte array must have some encoding. The encoding cannot be ASCII if you've got negative values. Once you figure that out, you can convert a set of bytes to a String using:

byte[] bytes = {...}
String str = new String(bytes, StandardCharsets.UTF_8); // for UTF-8 encoding

There are a bunch of encodings you can use, look at the supported encodings in the Oracle javadocs.