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As to how it's done: it's more of a matter of manipulating perspective than anything else.
Basically, the stairs can't ascend, but must look as if they are doing so. So you have to use a very low grade (about 5%) and angle the stairs downward, but barely perceptibly, to where it looks like one is leading up into another, but they loop back upon themselves.
Examine some of Escher's work closely and see. You'll see the illusion if you look hard enough.
Cheers,
__________________
"And all my days are trances, and all my nightly dreams,
Are where thy grey eye glances, and where thy footstep gleams,
In what ethereal dances, by what eternal streams..."
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