No I haven't done this. Is it under my tv settings? Wouldn't I need an internet connection or something to do that?
Go to Samsung's website, look up your TV model, go to their download section to get the firmware. Then you'll put that firmware on an empty USB flash drive, put it into the firmware/upgrade/admin USB port on the back of your TV, and then in the menu, you can upgrade the firmware there.
The Samsung website should have all the instructions to update the firmware.