The final obstacle to meditation is ecstasy; when you feel great bliss and happiness, the tendency is to stay in that ecstasy. Do not yield to this (laya) but pass onto the sixth stage, which is great calm.
The calm is higher than ecstasy and it merges into samadhi (absorption in Self).
Successful samadhi causes a waking sleep state to encompass you, when you are always Consciousness, for Consciousness is your nature. Hence a person is always in samadhi, only he does not know it.
All one has to do is to remove the obstacles I have just mentioned.