1) Updating a rooted phone wouldn't brick it, but if you changed something
while it was rooted (that required root to change), updating
that might brick it.
2) If your superuser app (Superuser, SuperSU) doesn't have a "total unroot option", you'll have to find all the changes rooting made to the phone and undo them. (Deleting files that were backed up and changing the name of the backup file back to the original, deleting added files, etc.) Then deleting su as a last step. (You need su in order to delete it.) Then uninstall the superuser app.
Or ... you could flash a stock ROM.
SamMobile Firmwares might have the one you need. If it's an earlier version, it'll update to a later one every day or so until it's current.
Or ... you could look on the XDA S4 forums for a stock KitKat ROM.
BTW, you can't brick the phone by updating a rooted phone - the update won't run past the "check for root" step. Once it sees that the phone is rooted it stops and says that updating failed.