Depends on the type of system you have. Open Vented with a Feed and Expansion Cistern in the Loft, then as the name suggests, this small cistern feeds the system and should top up automatically via a Ballvalve. (The Ballvalve can sometimes get stuck, so worth checking it's free if you cant hear the system filling when you've finished.)
Other common type is a 'Sealed System' where the User has to manually open a couple of valves and allow water in from the mains, usually via a braided silver hose 'Filling Loop'. Once system has reached required pressure, close both valves, and ideally the filling loop should be disconnected.