You will need a software application that is usually available only to Moto depot service centers, and a firmware file that matches the model and tanapa number for your radio. CPS will only let you perform a upgrades, and only from and to specific versions of release firmware.
Depending on what you're doing, you may also need a jumper for the accessory connector that will boot the radio into bootloader mode. Not always required, but in my experience, you only need it when you don't have it
If you have access to these things, the process is easy. Most critical is to make sure the FW you're pushing is the exact match or you'll brick the radio.
Good luck.