http://www.khandro.net/Buddhism_maha_stages.htm
HH Drikung Kyabgon, in The Practice of Mahamudra,
responds to a question concerning the relation of these stages to
the bodhisattva's levels of realization:
"These are somewhat different ways of looking at the same
process.
First of all, the fivefold Mahamudra does not relate directly to the
ten
bodhisattva bhumis. There is no need to look for that.
Mahamudra is really talking about something a bit different,
it's approaching it from the point of view of practice. What
relates more closely to the bodhisattva bhumis is what was
just discussed -- the four levels of yogic attainment. These do
relate more directly to the ten bodhisattva bhumis, and, in fact,
one great teacher of the Drukpa Kagyu wrote a text which
includes a discussion relating those two systems.
Without going into a great amount of detail, we could say that the
first level of yogic attainment, that of one-pointed
concentration, wherein the direct realization of the nature of
mind first begins to dawn, corresponds to the first
bodhisattva bhumi where ultimate reality is first glimpsed.
However, you have the three levels of that first stage of yogic
realization, that of the lesser, the middle, and greater
practitioner.
Technically, the first bodhisattva bhumi would correspond only
to the level of the highest practitioner of the first level of
yogic realization. Only at that level is reality actually
glimpsed. So the lesser and the middle level practitioner of the
first stage of yogic realization would correspond to the Path of
Preparation levels called "heat" and the level called "summit,"
respectively. These are the second to the highest and the
highest levels of the Path of Preparation. This precedes the
Dharshana-marga, the Path of Seeing.
The Path of Seeing is distinguished by the first glimpse of
ultimate reality, the non-conceptual direct perception of
emptiness, which is what is gained on the first level of yogic
realization by the highest level of practitioner. So, what we
have is the first of the bodhisattva bhumis corresponding to
the highest level of practice of the first stage of yogic
realization.
From there you can go up through the bhumis, starting with the
lowest level of practice of the second stage of realization,
that of freedom from projection; this would be the second
bodhisattva bhumi. The middle level of practice at that state
would be the third, and the highest level of practice at that
stage is the fourth. Then, the three stages of yogic realization
of one taste correspond to the fifth, sixth, and seventh. Then
finally, the three levels of practice at the highest level of
realization correspond to the last three, the eighth, ninth,
and tenth bodhisattva bhumis. Once one has attained the
eighth bodhisattva bhumi, this is considered to be
the enlightenment of the Buddha, but it has to be filled out
in the ninth and finally, in the tenth stage."