Look on this topic, you can find there useful links. http://ez.no/community/forum/install_configuration/upgrade_from_older_versions_than_3_5_documentation_missing
You can watch video tutorial too: http://ez.no/products/ez_publish/demo/flash_demos/upgrading_an_ez_publish_installation
In a nutshell - these are the steps I took to upgrade from 3.4 to 3.7.3.
Create database
Copy database from live site
Install eZ
Use eZ upgrade tool and phpMyAdmin to synchronize the old data to the new database structure
Manually set the "container" flag on the custom classes and folders for the system
Copy the templates from the live site, change ownership and permissions
Update override.ini manually
Update template priorities
Copy the stylesheets Integrate new CMS into existing site
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