Having the latest build of any Microsoft application is always recommended.  For TFS 2010 RTM, this is no different.  Please refer to the table bellow for your current version and links to getting the bits


 TFS 2010 Build #Release DateSizeLink
TFS 2010 RTM 10.0.30319.1 Aug-05-2010 700.0 MB  http://www.microsoft.com/en-us/download/details.aspx?id=15070 
TFS 2010 with Service Pack 1 10.0.40219.1 Mar-03-2011  476.8 MB  http://www.microsoft.com/en-us/download/details.aspx?id=20506
TFS 2010 with Service Pack 1 and Cumulative Update 2 10.0.40219.371   23.58 MB  http://go.microsoft.com/fwlink/?LinkID=236945&clcid=0x409
Team Foundation Server 2010 SP1 Security Update KB2719584 10.0.40219.371 (SP1 KB2643415)  Sep-05-2012  1.3 MB  http://www.microsoft.com/en-us/download/details.aspx?id=34636


Hope you found this helpful!