1) Download latest version https://github.com/zaproxy/zaproxy/wiki/Downloads * in my case it is ZAP_2.4.3_Linux.tar.gz
2) Untar it tar -xzvf ZAP_2.4.3_Linux.tar.gz
3) cd ZAP_2.4.3/
4) Copy new version over old : cp -Ra * /usr/share/zaproxy/
Source: IT-Security