Hydrogels with excellent mechanical and lubrication properties have been developed rapidly, laying the foundation for their application in cartilage replacement. However, the combination of robust hydrogels and substrates under different forms of movement is a great challenge. In addition, due to differences in modulus, the stress shielding effect caused by implantable artificial joint metal materials can lead to bone resorption. Here, we proposed to combine a 3D printed porous titanium alloy with a high-strength lubricating hydrogel to construct an integrated joint substitute material. The porous titanium alloy TC4 substrate constructed by 3D printing possesses a modulus similar to that of human bone. The strong bonding of the hydrogel and TC4 was achieved through two strategies: mechanical interlocking and chemical bonding. The combination of the alloy substrate and hydrogel realizes the construction of a bionic lubricating cartilage layer on the surface of traditional artificial joint materials. The hydrogel has excellent bonding properties with the porous substrate under different test conditions. Truly human-like joint sockets were prepared for the first time with soft–soft and soft–hard contact modes. Under conditions simulating human motion, the hydrogel maintains a low friction coefficient and still has excellent substrate adhesion after 100,000 cycles. This study further pushes the application of hydrogels in biolubrication into practice.