First step, since we'll need to go there anyway: half of all economic growth goes into a basic income fund that everyone gets; no strings, no questions, given to rich and poor alike. Asymptotically, this means that no one will have less than a 1/2N share. Eventually, we'll be able to get rid of other entitlement programs once this basic income fund is sufficient to eliminate poverty.
We're destined for sub-20% employment* in 50-200 years. The best we'll be able to achieve is a state where most of those who are unemployed are studying up for their next career. This eliminates the "fall behind" problem. People fall behind today because they still have to work when they do, often in more taxing jobs than we work (retail sucks). So they have no energy to push forward.
Second, we'll need to improve human intelligence either through "transhuman" advancement or eugenics ^. Not to sound like a dick, but a lot of people are "falling behind" on technology because they aren't smart enough. It's not that they are lazy or disadvantaged, but that the skills required to master advanced technology weren't necessary throughout most of our evolutionary history and are therefore uncommon.
^ On "eugenics", please understand that I'm not excusing the horrors that have been given that name (a misapplication thereof) in the past. I'm not advocating harming anyone, but I think there should be strong incentives (e.g. free education) for smart people to reproduce.