The urinary system consists of the kidneys, ureters, bladder, and urethra. The kidneys filter waste from the blood to produce urine, which is stored in the bladder and expelled from the body through the urethra. The kidneys contain nephrons, which are the functional filtering units that produce urine in a three step process of filtration, reabsorption, and secretion. Urine production and composition are regulated by hormones like renin, angiotensin, aldosterone, and antidiuretic hormone.