I do but it automatically brings up version 6.0.1 and then I run the update for two hours and it fails. Our verizon guy said we have to do 4.3 and 5.0 updates 1st for the 6.0.1 to work and that option is not available using the method above.
You do not have to do as the rep said, actually it is impossible to do, as the only iOS available will be the latest one. When you say that it fails, what kind of error message are you seeing? What computer OS are you using? There should be a specific error when you fail to update.
You may want to back-up your data first and then restore your phone as a new iphone. This would be done on iTunes of course. Then the phone should automatically be up-dated to the new version. I would make sure that your iphone data is backed up on your computer first though.