You will normally be prompted when an upgrade is available. When it becomes available depends on the phone manufacturer and - if you bought a network subsidised phone - the network.
If you're not prepared to wait, you might be able to get a more up-to-date version of Android if you root and ROM - see the sub-forum for your phone for more information.
Note that having the latest version of Android is less of an issue these days as most of the good stuff is released via Play Store app updates.
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