Out of the box, WordPress doesn't have a feature to replace a picture that's in a specific setting with the same name. A plugin called Enable Media Replace was created to add this functionality to the Media Gallery.
In order to replace media, you first have to find your image within the media gallery.
Login to WordPress Dashboard
Hover on the Media and Click on Library
Search for your file - you may have to browse pages, OR type in a search term
Once the files come up Click the Edit button for the file you want
Click on Replace Media
On the replace media screen click Browse and find your replacement
Click upload and you'll see the file update on the page after this process