If the basic income was set somewhere near the Federal Poverty Level (FPL) for an individual, it would be ~ $1000 / month [1]. (This is just for a rough sense of scale. I don't actually think it's a good idea to specifically aim to match that number, but I suspect we shouldn't go much above it. That's a longer discussion, though.) That wouldn't completely cover Social Security for everyone—the average monthly retirement benefit is ~ $1300 [2]—but it would cover a large chunk. Further, the minimum eligibility level for Medicaid is 133 % of the FPL [3], so if we'd like to maintain our current standards, provision of a roughly FPL basic income won't obviate Medicaid for everyone. (Medicare's qualification criteria are primarily age based, so the number of eligible beneficiaries would be unchanged by the existence of the basic income.)
[1] http://aspe.hhs.gov/2015-poverty-guidelines
[2] https://www.ssa.gov/policy/docs/quickfact/stat_snapshot/
[3] http://www.medicaid.gov/medicaid-chip-program-information/by...
Regardless, though, it seems like there should be relatively elegant options for achieving both objectives with one system if we want to. Perhaps just increase the basic income after some age. (That sets off some warning bells in my head, though—it could be a step toward complexity and means testing.)
(I don't think it would make sense to actually start that high—I would experiment with lower levels, and on more local scales, to try to understand the economic effects. Even so, I wouldn't be surprised if the maximum benefit to the full economy and to general well being occurs for a Federal component of a basic income near the FPL, though.)
I envision a system like this:
Person A has just graduated from high school and has never worked right when the UBI program goes into effect. He never pays into SS and receives only UBI for life and will never be eligible to collect SS.
Person B has worked under the existing system for n years and has paid into SS a significant amount. He stops paying into SS now and begins receiving UBI as well. When he reaches retirement age, he collects either SS or UBI, whichever is greater, based on the points he earned from paying payroll taxes.
Person C is a current typical retiree. He continues to collect SS, as it pays better than UBI since he paid so much into it from his payroll taxes.
This UBI system would pay out less benefits than someone with maxed out SS benefits gets today, but we wouldn't have the payroll tax anymore. Instead, the UBI program would be funded through income tax.
This would cost significantly more than today's wealth redistribution programs even added together (setting aside Medicare/Medicaid which are kind of a separate issue), so it would certainly require higher taxes to support it.
Lefty liberals would not agree with the decrease of the payout for such transition, so there is no transition.