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I find someone gave up using Hiawatha webserver, just because she/he could not make the Mercurial's hgweb.cgi work with it. Here is what I figured out to make the same work without any wrapper and, or other utility. Hope, this helps you too ;-)

##
## HERE'RE SOME EXAMPLE SNIPPETS, YOU MAY ADD TO YOUR VIRTUALHOST RECORDS
## OR CONF AS APPROPRIATE, YOU SHOULD KNOW WELL WHAT INDEED YOU'RE DOING;
##
## ** DON'T USE THIS AS A FULLY WORKING/INCLUDABLE HIAWATHA CONF FILE! **

## Add these snippets as appropriate to your virtualhost(s)
#Directory {
#	DirectoryId = hg
#	ExecuteCGI = yes
#	Path = /usr/lib/python2.7/site-packages/mercurial/templates/static
#}

#UrlToolkit {
#	ToolkitID = redirect
## Add the following redirect rule(s) to your virtualhost(s)
#	Match ^/hg/$ Rewrite /hg/hgweb.cgi
#	Match ^/hg/hgweb.cgi/static/(.*) Rewrite /hg/$1
#}

#VirtualHost {
#	Hostname = *.example.com
#	...
## Add the following lines to your virtualhost(s)
#	Alias = /hg:/usr/lib/python2.7/site-packages/mercurial/templates/static
#	EnablePathInfo = yes
#	Setenv HGWEB_CONFIG = /etc/hgweb.conf
#	UseDirectory = hg # Add the 'hg' into this list
#	UseToolkit = redirect # Add the 'redirect/rewrite' toolkit into this list
#}