This document provides an overview of urinary elimination and catheterization. It begins with learning objectives on anatomy, physiology, urine composition and factors influencing urination. It then reviews kidney anatomy and function, as well as the ureters and bladder. Urine formation and characteristics are described. Types of urine specimens and diagnostic tests are listed. Methods of facilitating urine elimination like catheters are explained, including purposes, types, and procedures for insertion and care.