software update

If your internal storage is full, your only option is to better manage the storage that you have - and delete unused Apps or unneeded data. 

These support pages should prove to be helpful:

What's the difference between device storage and iCloud storage? – Apple Support

Manage your iCloud storage – Apple Support

How to check the storage on your iPhone, iPad and iPod touch – Apple Support

Clear Other storage on your iPhone or iPad - Apple Support

“Offloading” Apps can be a helpful method of creating temporary space for the software update.

https://9to5mac.com/2020/01/21/how-to-offload-apps-in-ios-to-save-space-without-deleting-their-data/

If you wish to attempt update using a computer, you will need access to either a PC (with iTunes installed) or a Mac (with iTunes or Finder - as appropriate for the installed version of MacOS).

Download and use iTunes for Windows – Apple Support

Update to the latest version of iTunes – Apple Support

If you don’t have access to a suitable computer of your own, that of a helpful friend or family member will suffice. Alternatively, the technicians at the Genius Bar of your local Apple Store or Apple Authorised Service Provider (AASP) will be delighted to assist. Be aware that if available free-space is limited, you still have difficulty updating the device.

The update process, either from iPad Setting or via a computer, will automatically install the most recent version of iOS/iPadOS that is compatible with your device.