How to make software update

Check compatibility:

Go to Settings/General/About and note the Model Name

• NOTE: iOS 16 is not available for any models except to iOS developers and beta participants. General release will be in Fall, 2022
• iPhone 12 or 13 series: You can update to 15.6.1
• Any model 6S or newer (including original SE, 2nd and 3rd editions): You can update to 15.6.1
• iPhone 5S or 6: You cannot update to iOS 13 or higher; you can update only to iOS 12.5.6
• iPhone 5: You can update only to 10.3.4
• iPhone 5C: You can update only to 10.3.3
• iPhone 4S: You can update only to 9.3.6
• iPhone 4: You can update only to 7.1.2

If your phone is eligible for an update→Update your iPhone, iPad, or iPod touch - Apple Support

And make sure you meet all of the requirements for an over the air update:

• You need at least 6 GB of free storage
• You must be connected to a Wi-Fi network (and not a personal hotspot) unless it is an iPhone 12 or 13 series or an SE 3rd edition with an active 5G network connection
• The phone must be charged to at least 50%, and preferably plugged in so it stays above 50% during the update
• The phone must not be in Low Power Mode
• The phone must not be connected through VPN, and it may be necessary to delete any VPN apps and VPN profiles
• The phone cannot be in Airplane mode
• You cannot still have a beta version installed on the phone
• You cannot have a previous version that was downloaded, but not installed - go to Settings/General/iPhone Storage to look; if you find an iOS installer, delete it

If you can't meet all of them you can still update using your computer.