A non-bladder invasive urethral catheter system with a urethral balloon element for relieving urinary incontinence. The catheter system is more convenient and less intrusive compared to bladder catheters and permits the catheter to remain in the urethra during urination. The catheter system blocks urine flow and leakage in the urethra by means of the urethral balloon element while inserted within the urethra. Two or more different urethral catheters are utilized that are differentiated by the positioning of a urethral balloon element on the elongated body of the urethral catheter. Through the placement of the urethral balloon element in different positions in the urethra with the different catheters, the trauma produced by a urethral balloon element to a particular area of the urethra is reduced or eliminated, allowing long term use of a catheter in the urethra.