Your automobile has two main methods for charging its battery. When it's running, your alternator will recharge your battery to full capacity. This is assuming that your battery is working properly. As long as you aren't placing too much draw on your alternator, it should be able to keep up with everything. The higher that your RPMs go, the faster you'll be able to charge your battery.
If your battery has died completely, your alternator will not usually be able to charge it back up all the way in its current state. You'll need to obtain an external battery charger from Napleton's Autowerks, Inc. (Loves Park). This allows you to get your battery back to its full charge without the use of your vehicle. This is a useful item to have if you find yourself stuck in a parking lot somewhere with a dead automobile battery.