We present a setup to generate tightly focused Bessel beams that is composed of a half-ball lens coupled with a relay lens. The system is simple and compact compared to conventional imaging of axicons based on microscope objectives. We experimentally demonstrate the generation of a Bessel beam with a 42° cone angle at 980 nm in air with a typical beam length of 500µm and a central core radius of about 550 nm. We numerically studied the effects of the misalignment of the different optical elements and the range of tilt and shift that are acceptable to obtain a regular Bessel beam.