First of all mount the floppy, e. g. mount /def/fd0 /mnt/floppy (/mnt/floppy will be the directory the floppy is mounted into the system. you may of course choose a directory of your choice),
then just use cp (cp /mnt/floppy/filename destination_path), and if you are finished with the floppy you need to unmount it (umount /mnt/floppy or umount /def/fd0). HTH, for more information please consider checking the man pages