(Following the death of King Herod in 4 BCE, there was an outbreak of rebellions, some of which had messianic overtones.)

Josephus, Antiquities of the Jews, 17:269-85
Now at this time there were ten thousand other disorders in Judea, which were like tumults, because a great number put themselves into a warlike posture, either out of hopes of gain to themselves, or out of enmity to the Jews. In particular, two thousand of Herod's old soldiers, who had been already disbanded, got together in Judea itself, and fought against the king's troops, although Achiabus, Herod's first cousin, opposed them; but as he was driven out of the plains into the mountainous parts by the military skill of those men, he kept himself in the fastnesses that were there, and saved what he could. 

There was also Judas, the son of that Ezekias who had been head of the robbers; which Ezekias was a very strong man, and had with great dificulty been caught by Herod. This Judas, having gotten together a multitude of men of a profligate character about Sepphoris in Galilee, made an assault upon the palace [there,] and seized upon all the weapons that were laid up in it, and with them armed every one of those that were with him, and carried away what money was left there; and he became terrible to all men, by tearing and rending those that came near him; and all this in order to raise himself, and out of an ambitious desire of the royal dignity; and he hoped to obtain that as the reward not of his virtuous skill in war, but of his extravagance in doing injuries. 

There was also Simon, who had been a slave of Herod the king, but in other respects a comely person, of a tall and robust body; he was one that was much superior to others of his order, and had had great things committed to his care. This man was elevated at the disorderly state of things, and was so bold as to put a diadem on his head, while a certain number of the people stood by him, and by them he was declared to be a king, and thought himself more worthy of that dignity than any one else. He burnt down the royal palace at Jericho, and plundered what was left in it. He also set fire to many other of the king's houses in several places of the country, and utterly destroyed them, and permitted those that were with him to take what was left in them for a prey; and he would have done greater things, unless care had been taken to repress him immediately; for Gratus, when he had joined himself to some Roman soldiers, took the forces he had with him, and met Simon, and after a great and a long fight, no small part of those that came from Perea, who were a disordered body of men, and fought rather in a bold than in a skillful manner, were destroyed; and although Simon had saved himself by flying away through a certain valley, yet Gratus overtook him, and cut off his head. The royal palace also at Amathus, by the river Jordan, was burnt down by a party of men that were got together, as were those belonging to Simon. And thus did a great and wild fury spread itself over the nation, because they had no king to keep the multitude in good order, and because those foreigners who came to reduce the seditious to sobriety did, on the contrary, set them more in a flame, because of the injuries they offered them, and the avaricious management of their affairs. 

But because Athronges, a person neither eminent by the dignity of his progenitors, nor for any great wealth he was possessed of, but one that had in all respects been a shepherd only, and was not known by any body; yet because he was a tall man, and excelled others in the strength of his hands, he was so bold as to set up for king. This man thought it so sweet a thing to do more than ordinary injuries to others, that although he should be killed, he did not much care if he lost his life in so great a design. He had also four brethren, who were tall men themselves, and were believed to be superior to others in the strength of their hands, and thereby were encouraged to aim at great things, and thought that strength of theirs would support them in retaining the kingdom. Each of these ruled over a band of men of their own; for those that got together to them were very numerous. They were every one of them also commanders; but when they came to fight, they were subordinate to him, and fought for him, while he put a diadem about his head, and assembled a council to debate about what things should be done, and all things were done according to his pleasure. And this man retained his power a great while; he was also called king, and had nothing to hinder him from doing what he pleased. He also, as well as his brethren, slew a great many both of the Romans and of the king's forces, an managed matters with the like hatred to each of them. The king's forces they fell upon, because of the licentious conduct they had been allowed under Herod's government; and they fell upon the Romans, because of the injuries they had so lately received from them. But in process of time they grew more cruel to all sorts of men, nor could any one escape from one or other of these seditions, since they slew some out of the hopes of gain, and others from a mere custom of slaying men. They once attacked a company of Romans at Emmaus, who were bringing corn and weapons to the army, and fell upon Arius, the centurion, who commanded the company, and shot forty of the best of his foot soldiers; but the rest of them were aftrighted at their slaughter, and left their dead behind them, but saved themselves by the means of Gratus, who came with the king's troops that were about him to their assistance. Now these four brethren continued the war a long while by such sort of expeditions, and much grieved the Romans; but did their own nation also a great deal of mischief. Yet were they afterwards subdued; one of them in a fight with Gratus, another with Ptolemy; Archelaus also took the eldest of them prisoner; while the last of them was so dejected at the other's misfortune, and saw so plainly that he had no way now left to save himself, his army being worn away with sickness and continual labors, that he also delivered himself up to Archclaus, upon his promise and oath to God [to preserve his life.] But these things came to pass a good while afterward. 

And now Judea was full of robberies; and as the several companies of the seditious lighted upon any one to head them, he was created a king immediately, in order to do mischief to the public. They were in some small measure indeed, and in small matters, hurtful to the Romans; but the murders they committed upon their own people lasted a long while. 
(Whiston translation)

(Following the deposition of Archelaus (son and successor of Herod the Great) in 6 CE, Judea and Samaria were placed under direct Roman administration, and taxes were to be paid directly to Rome instead of to Jewish "tax farmers" as previously. It is for this purpose that the census under Quirinius (see Luke 2:2 and Acts 5:37) was carried out). 

Josephus, Antiquities of the Jews, 18:1-10.
Yet was there one Judas, a Gaulonite, of a city whose name was Gamala, who, taking with him Sadduc, a Pharisee, became zealous to draw them to a revolt, who both said that this taxation was no better than an introduction to slavery, and exhorted the nation to assert their liberty; as if they could procure them happiness and security for what they possessed, and an assured enjoyment of a still greater good, which was that of the honor and glory they would thereby acquire for magnanimity. They also said that God would not otherwise be assisting to them, than upon their joining with one another in such councils as might be successful, and for their own advantage; and this especially, if they would set about great exploits, and not grow weary in executing the same; so men received what they said with pleasure, and this bold attempt proceeded to a great height. All sorts of misfortunes also sprang from these men, and the nation was infected with this doctrine to an incredible degree; one violent war came upon us after another, and we lost our friends which used to alleviate our pains; there were also very great robberies and murder of our principal men. This was done in pretense indeed for the public welfare, but in reality for the hopes of gain to themselves; whence arose seditions, and from them murders of men, which sometimes fell on those of their own people, (by the madness of these men towards one another, while their desire was that none of the adverse party might be left,) and sometimes on their enemies; a famine also coming upon us, reduced us to the last degree of despair, as did also the taking and demolishing of cities; nay, the sedition at last increased so high, that the very temple of God was burnt down by their enemies' fire. Such were the consequences of this, that the customs of our fathers were altered, and such a change was made, as added a mighty weight toward bringing all to destruction, which these men occasioned by their thus conspiring together; for Judas and Sadduc, who excited a fourth philosophic sect among us, and had a great many followers therein, filled our civil government with tumults at present, and laid the foundations of our future miseries, by this system of philosophy, which we were before unacquainted withal, concerning which I will discourse a little, and this the rather because the infection which spread thence among the younger sort, who were zealous for it, brought the public to destruction. 

Acts 5:37 (a speech by a Pharisee named Gamaliel before the Sanhedrin, comparing the primitive Jesus movement to the revolt under Judas)
After him Judas the Galilean rose up at the time of the census [6 CE] and got people to follow him; he also perished, and all who followed him were scattered.

Acts 5:36 (a speech by a Pharisee named Gamaliel before the Sanhedrin, comparing the primitive Jesus movement to the revolt under Judas)
For some time ago Theudas rose up, claiming to be somebody, and a number of men, about four hundred, joined him; but he was killed, and all who followed him were dispersed and disappeared.