Question about Github workflow

I am still learning git but I have run into a situation that confuses me so if anyone can straighten it out for me I would appreciate it.

On github I have created a Dolibarr fork that I work on, since I do not have (or want) write permission on the main repo. I cloned the fork to my laptop and do the work on there, sync the fork on github, pull and then push back to my fork. This works.

However, is it possible to not having to use the github web to sync the fork? That is, is there some way to use the git console commands to do this?

My remotes:

$ git remote -v
origin  git@github.com:bos4711/dolibarr-bos.git (fetch)
origin  git@github.com:bos4711/dolibarr-bos.git (push)
upstream        git@github.com:Dolibarr/Dolibarr.git (fetch)
upstream        git@github.com:Dolibarr/Dolibarr.git (push)

What I am asking for is: is it possible to sync “origin” from “upstream” directly in the console? If yes, how do you do that?

(I have read “Pro Git” and checked Stack Overflow but cannot find out how to that)