Most Martial Arts are based around either self defense or attacking, but one of the least aggressive, most self defense related martial art that I have encountered has been the Japanese art of Aikido. Aikido is based around walking stances and using an attacker's energy against them.
Taekwondo is also a very effective form of self defense.
Virtually all systems of Martial Art are potentially good for self defense if they are taught correctly by qualified instructors, and if the student trains diligently, and applies the art appropriately in the right way at the right time.
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