The kidney is composed of an outer cortex and inner medulla, and contains over 1 million functional filtration units called nephrons. Each nephron contains a renal corpuscle for blood filtration and a renal tubule for reabsorption and secretion. Urine is formed in 3 steps - filtration of blood into nephron filtrate, reabsorption of useful substances back into blood, and secretion of waste products into filtrate. Hormones like antidiuretic hormone regulate water and electrolyte balance by controlling reabsorption in the kidney tubules.