Superconductor/normal conductor/superconductor (SNS) Josephson junctions with highly transparent interfaces are predicted to show significant deviations from sinusoidal supercurrent-phase relationships (CPR) at low temperatures. We investigate experimentally the CPR of a ballistic Nb/InAs(2DES)/Nb junction in the temperature range from 1.3 K to 9 K using a modified Rifkin-Deaver method. The CPR is obtained from the inductance of the phase-biased junction. Transport measurements complement the investigation. At low temperatures, substantial deviations of the CPR from conventional tunnel-junction behavior have been observed. A theoretical model yielding good agreement to the data is presented.