If the update is out for your device (not all devices have an update officially released as this is up to each manufacturer, and further more, carriers if your device is carrier-branded), you should be able to go into the ABOUT section of your Settings, select SOFTWARE UPDATE and that should check whether there is an update available for your tablet or not.
Additionally, you could do the same by connecting your device to your PC using Samsung Kies and letting the software figure out if there is an update available and let it download/install it for you.