Biocompatible, lubricious, highly durable coatings for medical devices are formed from a highly adherent base coat and a hydrophilic top-coat which is chemically grafted to the base coat. The base coat includes an aqueous acrylic emulsion polymer, having one or more monomers having alkyl groups of varying number. The monomers are combined such that the "Equivalent Alkyl Number", essentially a weighted average number of carbon atoms, for the resulting polymer or copolymer, is in a range of about 3.5-4.5. The coating is prepared without using any organic solvents, and thus the final product contains no residue of such solvents. The coated products display an unmatched combination of adhesion, abrasion resistance, water resistance, biocompatibility, and lubricity.