A joint is formed where two or more bones come into contact and are attached by ligaments or cartilage. There are several types of joints including fibrous joints which have no movement, cartilaginous joints which allow limited movement, and synovial joints which are freely movable and lubricated by synovial fluid within a joint capsule. Common synovial joints include ball-and-socket joints like the shoulder, hinge joints like the knee, and gliding joints between wrist and ankle bones.