Without knowing what device you have it is hard to give a detailed answer, but typically when there is an update the device will let you know with a pop up. If you still want to check, go into your settings and search around for the software update section. If you let us know what kind of device you have I can help you further.
I am assuming you have an Android tablet since Marshmallow recently came out. The problem with Android is that Google sends out the update to all the different phone manufacturers and then it is up to the manufacturers to make sure it works with their devices and then they send it out to users. This process can take months! That's why Nexus phones and tablets are so nice, because they get the updates immediately, since they are phones made by Google and LG or Huawei.
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