As you know the update will be made available OTA if you are running iOS 5, and you can get it by going to Settings > General > Software Update and following the onscreen instructions.
You can also manually update using iTunes and the download links for the individual iOS 5.0.1 updates follow:
- iPhone 4S
- iPhone 4 ( GSM | CDMA )
- iPhone 3GS
- iPad 2 ( WiFi | GSM | CDMA)
- iPad
- iPod Touch 4G
- iPod Touch 3G