Delivery catheters useable to deliver substances, articles or devices to target locations within the bodies of human or animal subjects. The delivery catheter generally comprises a catheter having a tissue penetrating distal tip member on the distal end and one or more delivery aperture(s) whereby a substance, article or device may be delivered through the lumen of the catheter body and out of the delivery aperture(s). In some applications, the substance delivery catheter is used in combination with a transluminal tissue penetrating catheter having a penetrator that is advanced to a first location. The delivery catheter is then advanced through (or over) the penetrator, through intervening tissue, to a desired target location.