The present invention provides hydrogel coated, implantable medical devices and methods of coating hydrogels onto implantable medical devices. In one embodiment, a hydrogel coated medical device is formed by physically treating a surface of the medical device, chemically treating the surface, applying a hydrogel precursor and then crosslinking the hydrogel precursor to form a hydrogel coating on the surface of the medical device. The present invention may be particularly applicable for coating articulating surfaces on implantable medical devices such as artificial joints.