That depends on how the system (and other aspects of society) works.
If you have minimum wage that is the minimum required for living and then you have welfare - because those not working have to live too - paying the same, of course that discourages work.
Common alternative to that is "stick & carrot". But that only pushes on those unemployed who have best chances to get a job and makes life worse to others, ruining any chances they ever had. It improves statistics at cost to those most needing help. It does encourage to work, but punishes those unable to.
Also this kind systems may force you to apply for jobs to keep benefits. Employers are flooded with applicants who don't want the job or are not qualified or capable to it.
I do have some faith on the UBI idea. That would certainly encourage most people to work: getting a job would mean earning the wage more than before, not wage minus your current benefits.
Obvious problem is the cost. While UBI would replace various existing benefits, I'm sure that wouldn't nearly cover it. Raising taxes, the only thing to do, would then raise cost of living which would require raising UBI or adding other benefits; circle of inflation.
But this problem might be overcome by improvement to economy. Wages could be lowered (or realistically speaking, kept without raises for very long time), people would have more confidence to spend and start private enterprises. This in turn would create further jobs and increase tax intake.
The real difficulty is that it's hard to move into UBI system gradually, you'd need to make a quick dramatic change to whole economy and that is both dangerous in itself and nearly impossible (in a democracy) because of the wide support it would require. Not to mention if we're speaking of any country that is to begin with further away from such concept than Nordics.