A lubricious composition suitable for medical devices that comprises ahydrophilic polymer, an isocyanate-terminated prepolymer, an alkylester of acarboxylic acid such as ethyl lactate and a solvent selected fromtetrahydrofuran, dimethylformamide, methylene chloride, n-methyl pyrrolidoneand cyclohexanone and mixtures thereof. The lubricious composition mayoptionally contain a pharmacological additive and/or a polymerized urethane.Also disclosed is a method of producing the lubricious composition and methodsof coating a surface such as a medical device with the lubricious compositionand the resulting coated medical devices.