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Keep in mind, the 1st generation iPod Touch and original iPhone cannot update to iOS 4. For all other devices, the update is free. Just know that because you are forced to update to the latest version of iOS, the only devices you can still update to iOS 4 are the iPhone 3G and iPod Touch 2nd generation. All other devices will update to either iOS 5 or 6 using this same method.

You plug your device into your iTunes-authorized computer and wait for the pop-up that there is a new software version to update to. You click download and update (or whatever it says) and agree to terms and conditions. Then you must wait until the download an installation is complete before unplugging your device.

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Q: How do you upgrade Iphone OS 301 to 4.0?
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