The judges were the military leaders, and God’s people had a cycle of obeying God, sinning/disobeying, pleading with God, God forgiving them, and then disobeying again.  During that time, there was a woman named Ruth loved God and was rescued by Boaz. Jesus would come from their family.  

But Ruth said, "Do not urge me to leave you or to return from following you. For where you go I will go, and where you lodge I will lodge. Your people shall be my people, and your God my God." 

Ruth 1:16