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Overview
Apple releases bug fixes, vulnerability patches, feature improvements and even OS upgrades for iOS, iPadOS and their apps via Software Update. Although your iPhone or iPad can be configured to automatically download or install updates, you can manually check to see if there are any available updates or upgrades for your iPhone or iPad.
Instructions
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Go to the Settings app
on your iPhone or iPad.
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Tap General.

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Tap Software Update.

The currently installed version of iOS/iPadOS is shown, and whether an update is available.

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If an update is available, tap Download and Install, then follow the onscreen instructions.
See Also
Update your iPhone or iPad
iPhone User Guide
iPad User Guide