Do you have a rollover cable? If you do you can use that to connect to the console port on the back of the router. Use a DB-9 to connect the roolover cable to a serial port on your laptop or desktop. Then open a terminal emulating program like HYPERTERMINAL or better yet TERATERM (which is also free). Set it to connect to serial at 9600 baud rate, N (for parity and flow control), 8 for data, 1 for stop bit.
You could possibly telnet to it, though it would have to be pre-configured to allow access on the telnet ports. I'm assuming this probably wasn't done. Not to mention upgrading the IOS this way is not a really desirable approach, if something goes wrong you won't have access to the router. The router stops processing normal traffic and your telnet session will be part of that normal traffic during the upgrade. So direct console connection is always prefered, second best is a dial-up connection to the AUX port. But, I'm still of the mind if I am going to update something remotely I have a back-up person who can show up to the site within a matter of minutes.