I somewhat disagree with the above. I do agree that you should do your undergrad as cheaply as possible and go ahead and attend where you believe you can get the higher GPA
I also think (and have been told) that some schools take into account where you went to school, to an extent. For example, I was concerned about applying to VCU because they took a very small percentage of out of state applicants (15% I believe); however, I spoke to a women in the admissions department and she said that the 15% figure didn't apply to students from my undergraduate university (she named a few schools that it didn't apply to - all of which were state schools by the way) because they have seen that students from the schools she named have been very successful in VCU's program. Who knows if what she told me is actually true, haha.
Also, some schools are familiar with my undergrad's kinesiology curriculum and thus normally take a good amount of students from the university - but its by far no guarantee.
I would also recommend that your GPA be above a 3.0, despite where you went to college. I've heard of Lehigh, but I also didn't know it was prestigious. Even if a grad school doesn't require a 3.0, I'd say most generally look for it.
Overall - schools are not going to lower their standards for you becase of where you went to school. A 3.0 cutoff is a 3.0 cutoff whether you went to Harvard or your town's local small college that no one has heard of. Like jbizzle said, most school's don't care if you take your prereqs at community college. A prestigious undergrad university might give you a little push during the application process if someone knows/respects your undergrad university, but I doubt most admissions committe would take a 2.8 from a prestigious school over a 3.5 from a less prestigious school, without several other factors.
I have a 3.3 GPA - I will say that where I got my degree makes me feel a little bit better about getting into grad school...a little bit. However, I didn't get in last year, although I did apply in January.
And like johncronejr said, in no way do I think people who went to "prestigious" (I'd rather say well known - I don't think my undergrad is considered prestigious) schools are more versed in the core courses. To be quite honest, my physics course had test averages of around 50-60% - the course was designed so that if you did really well in the lab and on homework you could pass with quite horrible test scores. In my opinion a good portion of the students in the class didn't learn much at all. It was a horrible system.
A time when your undergrad university defiantly helps though, is when you are applying to the same school's graduate program.