post about satin stitch), simply fill in the shape with stitching before you satin stitch over the shape.
You can fill the shape with all kinds of stitches. Straight stitches, satin stitch or chain stitch for example. Chain stitch gives a lot of padding. But if you use this stitch to fill in, take care that the chain 'joins' do not all line up or you may get lumps or ridges showing through the satin stitching.
I find that even just outlining the satin stitch before you start, will help raise it from the surface. If you're only doing very small areas in satin stitch then stitch outlining is probably all you need.
But for larger shapes, padding can be a good idea, because without padding the satin stitching may start to sink in the middle where it is unsupported by the outline.