I am not sure if accumulating $1M over a lifetime counts as "rich". I started working 35 years ago. I immediately started regularly and automatically putting a little from each paycheck into my IRA, invested in an index fund. The monthly payroll contribution was less than my car payment. Yet, today my IRA has over $700K. Unless there is a market crash, it should be over $1M by the time I retire.
The usual estimate of how much you can withdraw from your savings per year without having too much chance
of drawing down your capital is 4%.
So, $1M gives you an annual income of $40,000, not exactly a high salary, even adding in ~$30k in social
security income won't make you especially well off.