Judges is so called because it tells of the times of various rulers, or judges, of Israel from the possession of Canaan until the time of Samuel. Also found in Judges is the recounting of the adventures of Samson.

Judges 20

20:18 And the children of Israel arose, and went up to the house of God, and asked counsel of God, and said, Which of us shall go up first to the battle against the children of Benjamin? And the LORD said, Judah shall go up first.