No, you have to clean install 10. An upgrade is not possible.
You *could* upgrade XP to Vista, then Vista to 7, then 7 to 8.1, then 8.1 to 10, but I strongly recommend against doing that. Beside the expense of buying all those versions, doing multiple upgrades in a row like that is just looking for trouble.
Also, if you want to go to 10, you should first make sure that your hardware is compatible with 10. There's a good chance that an XP-era computer is *not* compatible with 10.,