No way to do it from the Photo app or Safari. You need to use an app. I use Friendly for Facebook. It will only let you upload one photo at a time though. I know there is another Facebook app that will do multiple photo uploads, but I don't remember what it's name is.
Oops. While I can upload a new picture using Friendly, I can't find a way to change the profile picture. So you'll need to find another app. Sorry.