There are three main types of joints in the body: fibrous joints, cartilaginous joints, and synovial joints. Fibrous joints are immovable, cartilaginous joints allow slight movement, and synovial joints allow free movement. There are six types of synovial joints including ball and socket, hinge, saddle, ellipsoid, pivot, and gliding joints. Synovial joints contain synovial fluid and are surrounded by a fibrous capsule. Key terms are used to describe body positions, planes, and types of movement including flexion, extension, abduction, adduction, and others.