So it's not a given that an update actually exists for your phone. It depends whether the manufacturer actually produced one.
However, in most cases if an update does exist you will be able to install it by going into the system settings, finding the Software Update settings (usually in Settings > About, but it can vary with Android version/manufacturer) and selecting "Check for Update". If an update is available that should let you download and install it. There are some cases where this doesn't work (sometimes phones sold through one carrier with that carrier's software won't find it if they are being used on a different network), but otherwise if you can't find an update that way this may mean that there just isn't one for your phone.
If you've no update available, the manufacturer hasn't got one and the carrier it was originally sold through doesn't then we'll need to know exactly what phone model it is to have a chance of helping. In some cases you can find updates through third-party sources (Sammobile.com are good for Samsung phones, for example). But if those suggestions don't work it's quite possible that the update for that phone simply doesn't exist.
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