Chris Double wrote a client library that is now a part of Corman Lisp, but a version adapted by Eric Marsden for CMUCL and CLISP is available from http://purl.org/net/emarsden/home/downloads.
A second implementation for a variety of Common Lisp implementations is S-XML-RPC.
A third implementation tested with SBCL but should work with others supported by its dependencies is rpc4cl.
There is some documentation, pertaining to other-language software and XML-RPC * possibly, would be helpful, for an introduction about XML-RPC * for example: : XML-RPC HOWTO