How do male and female genital structures develop?

"Male and female genital structures develop from similar fetal tissues and begin differentiating around the fifth or sixth week. In an XY configuration, tissues develop into structures such as the penis, urethra, scrotum, and male reproductive glands; in an XX configuration, they develop into the clitoris, labia, urethral opening, vagina, uterus, ovaries, and related structures. Sexual development usually follows predictable patterns, although variations such as intersex conditions and chromosomal syndromes can occur."