Rampal is accused of involvement in a murder case dating from 2006 in which a man died in a clash at another of his ashrams.
He denies these allegations and is on bail, but authorities ordered his arrest on contempt charges after he repeatedly failed to appear in court.
The Punjab and Haryana High Court had set a final deadline for Rampal to appear in court on Monday in the contempt case.
Rampal ignored the summons and his lawyers said he was too ill to make the 250km (155-mile) journey to the court in Chandigarh, which serves as the capital of both states.
The judges criticised the government, saying they "lacked the will" to arrest the guru and said he must be presented in court by Friday.