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Changes to the welfare system will save £5bn a year by 2030 and get more people into work, the government says.
It will be harder to claim a key disability benefit called Personal Independence Payment (Pip) under the proposals.
The basic level of universal credit for those seeking work will rise, but people under 22 will no longer be able to claim incapacity benefit.
What is Pip and how are the rules changing?
Pip is paid to more than 3.6 million people who have a long-term physical or mental health condition.
There are two elements – a daily living component and a mobility component. Claimants may be eligible for one or both.