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In this video tutorial, the presenter discusses the IRS Form 1040ES and provides line-by-line instructions for estimated tax worksheets for individuals. He explains that income tax is a pay-as-you-go system, where employees pay federal withholding from their paychecks. However, self-employed individuals may need to make quarterly estimated tax payments to avoid underpayment penalties. These payments should cover both income and self-employment taxes. It is important to understand and properly complete the 1040ES form to accurately report and pay taxes.