In 2011, I wrote a Jenkins plugin to integrate Rundeck as a “publisher”: the Rundeck plugin.
This plugin allows the creation of continuous delivery pipelines, using Jenkins to build your software and Rundeck to deploy it. I talked about it at the Paris DevOps meetup in march 2011: Continuous Deployment with Jenkins and Rundeck.
Note that this plugin is now maintained by the Rundeck team, and is still used by many people.
Project link: https://plugins.jenkins.io/rundeck