A non-volatile lubricious coating composition is provided for use with medical devices, such as hypodermic needles, catheters, and the like. The coating composition includes a first siloxane polymer having a very low viscosity less than about 50 centistokes, a second siloxane polymer having a high viscosity greater than about 1,000 centistokes, a reactive silicone polymer which is capable of crosslinking upon exposure to radiation, such as a UV curable silicone acrylate, and a photoinitiator to accelerate cross-linking of the reactive silicone polymer. The coating composition may further include an aminofunctional siloxane polymer to promote adhesion to metal surfaces when used with needles. The coating composition provides flowability without the need for any volatile organic solvent, and is capable of curing to provide adhesion and lubricity.