I'm not 100% sure on this one but I believe you should keep it connected to your wifi and eventually it will update itself when it acknowledges an update is available.
However, if it has a custom ROM on it you may need to manually update your phone by flashing a new ROM. I'm not into all the Rooting stuff etc but hopefully someone can lead you in the right direction. If not head over to XDA (an development forum) and check out "cyanogen" & his custom ROM's.
Good luck
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