"Basic income" would go a long way.
People will try to work to make their lives better, whether they're "poor" and "rich". Not needing to worry about food and shelter would make life much easier.
And I mean "basic income" for everybody. Not just citizens. Even immigrants. "For the widow, the orphan, the foreigner." - Deuteronomy 10:18, Zechariah 7:10, Matthew 25:31-46