To update
The Settings>General>Software Update comes with iOS 5 and later.
Connect the iPod to your computer and update via iTunes as far as your iPod model allows. Note nly the 3G and later can go to iOS 4.3 or later
iOS: How to update your iPhone, iPad, or iPod touch
A 1G iPod can go to iOS 2.2 via iTunes and iOS 3.1.3 via
Purchasing iOS 3.1 Software Update for iPod touch (1st generation)
https://buy.itunes.apple.com/WebObjects/MZFinance.woa/wa/touchLegacyLandingPage
A 2G to 4.2.1. Requires iTunes version 10.X. If a Mac it requires OSX 10.5.8 or later. With OSX 10.4.11 you can only go to iTunes 9.X which gets you as high as iOS 4.1
A 3G to 5.1.1 Requires iTunes version 10.5 or later
A 4G to 6 Requires iTunes version 10.7 or later. For a Mac, that requires a Mac with OSX 10.6.8 or later
Identifying iPod models