Not quite sure what you mean by upload ..
If you mean copy to a PC, then attach the phone to your PC with a USB cable and then either use Kies or Windows Explorer to move/copy the photos from /DCIM/camera.
If you mean to a web service like Flickr, then open the photo in the gallery, tap it and you should see a share icon (a dot with two arrows coming off it). Tap that to see your share options. If the service you require isn't in the list, check if the service has an app.