It replaces more than just welfare. There are lots of different programs to prevent people from falling into poverty, whether due to long term unemployment, disability, retirement without savings, or part-time work at minimum wage. UBI can replace all of them. Progressive tax rates tend to have a 0% tax rate for the lowest bracket because people with a very low income need it all to just get by. If they get UBI on top of that, it could be an option to compensate that by raising the tax rate on the lowest tax bracket (and others maybe too).
The point is not simply to give people more money (though in some countries that might not be a bad idea), but to ensure that they don't lose that money if their situation changes. Often it's more attractive to remain completely unemployed than to work part time at minimum wage. With UBI, every bit of paid work you do, leaves you better off financially. It removed disincentives to work, because working people get it too. The costs of UBI are easily balanced with taxes. And because you don't have to qualify for it, you can save a lot on bureaucracy; it leaves people at the bottom of the economic ladder with a lot more freedom in their lives.