The founder of Kodokan Judo, Jigoro Kano referred to the three purposes of Judo training as "physical education", "learning how to attack and defense" and "moral training".
The Kime-no-Kata was created around in 1888 to study how to attack and defense. However, with the change in lifestyles, it became necessary to come up with a new set of kata more suited to the times. Therefore, in 1956, the Kodokan established Goshin Jutsu, a set of 21 self defense techniques, which are divided into two categories Toshu or Against Unarmed Attack and Buki or Against Armed Attack.
Besides providing a demonstration of and commentary on the correct forms of each technique, this video also provides a precise explanation of the main points.