https://www.scirra.com/tutorials/509/movernos-a-ot...
I imagine it will be something similar to this tutorial, but without switching layers.
i made a very messy example here. perhaps you can streamline it for your own use.
explanation: when the player collides with the object, 'stairs' they are teleported to image point 1 of the stiars, which i set to the top right. taking them to the higher level.