The kidneys, ureters, urinary bladder, and urethra work together to form the urinary system and remove waste from the body. The kidneys filter waste and excess water from the blood to produce urine. The ureters carry urine from the kidneys to the urinary bladder, where urine is stored until emptying. The urethra is the tube through which urine exits the body. This system keeps the body healthy by removing harmful waste.