A new elastohydrodynamic (EHD) lubricated spherical joint model for flexible multibody dynamics is proposed. A new isoparametric fifteen-node pentahedron finite element is proposed to mesh the spherical joint socket. A finite-difference grid rotation scheme is proposed to address the lubrication interface non-conformance problem. The coupling dynamics of a rigid flexible multibody system with EHD lubricated spherical joint is studied. The proposed joint can be further used to model the human artificial hip joints.