File Upload Component:
Create a new Lightning Component FileUpload.cmp.

<!--FileUpload.cmp-->
<aura:component controller="FileUploadController">
    <!-- 'parentId' Aura Attribute for store the Id for Parent Record where we are attach our file -->  
    <aura:attribute name="parentId" type="Id" default="00128000002KuXUAA0" />
    <!-- 'fileName' attribute for display the selected file name -->  
    <aura:attribute name="fileName" type="String" default="No File Selected.." />
    
    <!-- Lightning Input with file type and on file change call the 'handleFilesChange' controller --> 
    <lightning:input aura:id="fuploader" onchange="{!c.handleFilesChange}" type="file" name="file" label="Upload File" multiple="false"/>
    <div class="slds-text-body_small slds-text-color_error">{!v.fileName} </div>
    <br/>
    <lightning:button label="Cancel" onclick="{!c.handleCancel}" class="slds-m-top--medium" />
    <lightning:button label="Save" onclick="{!c.handleSave}"
                      variant="brand" class="slds-m-top--medium"/>
</aura:component>

File Upload JavaScript Controller:
Now create below JavaScript FileUploadController.js controller for above FileUpload.cmp component.

({    
    handleSave: function(component, event, helper) {
        if (component.find("fuploader").get("v.files").length > 0) {
            helper.uploadHelper(component, event);
        } else {
            alert('Please Select a Valid File');
        }
    },
    
    handleFilesChange: function(component, event, helper) {
        var fileName = 'No File Selected..';
        if (event.getSource().get("v.files").length > 0) {
            fileName = event.getSource().get("v.files")[0]['name'];
        }
        component.set("v.fileName", fileName);
    },
    
    handleCancel: function(component, event, helper) {
        $A.get("e.force:closeQuickAction").fire();
    }
})

File Upload JavaScript Controller Helper:
Now create below JavaScript FileUploadHelper.js helper for above FileUploadController.js component.

({
    MAX_FILE_SIZE: 4500000, //Max file size 4.5 MB 
    CHUNK_SIZE: 750000,      //Chunk Max size 750Kb 
    
    uploadHelper: function(component, event) {
        // get the selected files using aura:id [return array of files]
        var fileInput = component.find("fuploader").get("v.files");
        // get the first file using array index[0]  
        var file = fileInput[0];
        var self = this;
        // check the selected file size, if select file size greter then MAX_FILE_SIZE,
        // then show a alert msg to user,hide the loading spinner and return from function  
        if (file.size > self.MAX_FILE_SIZE) {
            component.set("v.fileName", 'Alert : File size cannot exceed ' + self.MAX_FILE_SIZE + ' bytes.\n' + ' Selected file size: ' + file.size);
            return;
        }
        
        // create a FileReader object 
        var objFileReader = new FileReader();
        // set onload function of FileReader object   
        objFileReader.onload = $A.getCallback(function() {
            var fileContents = objFileReader.result;
            var base64 = 'base64,';
            var dataStart = fileContents.indexOf(base64) + base64.length;
            
            fileContents = fileContents.substring(dataStart);
            // call the uploadProcess method 
            self.uploadProcess(component, file, fileContents);
        });
        
        objFileReader.readAsDataURL(file);
    },
    
    uploadProcess: function(component, file, fileContents) {
        // set a default size or startpostiton as 0 
        var startPosition = 0;
        // calculate the end size or endPostion using Math.min() function which is return the min. value   
        var endPosition = Math.min(fileContents.length, startPosition + this.CHUNK_SIZE);
        
        // start with the initial chunk, and set the attachId(last parameter)is null in begin
        this.uploadInChunk(component, file, fileContents, startPosition, endPosition, '');
    },
    
    
    uploadInChunk: function(component, file, fileContents, startPosition, endPosition, attachId) {
        // call the apex method 'SaveFile'
        var getchunk = fileContents.substring(startPosition, endPosition);
        var action = component.get("c.SaveFile");
        action.setParams({
            parentId: component.get("v.parentId"),
            fileName: file.name,
            base64Data: encodeURIComponent(getchunk),
            contentType: file.type,
            fileId: attachId
        });
        
        // set call back 
        action.setCallback(this, function(response) {
            // store the response / Attachment Id   
            attachId = response.getReturnValue();
            var state = response.getState();
            if (state === "SUCCESS") {
                // update the start position with end postion
                startPosition = endPosition;
                endPosition = Math.min(fileContents.length, startPosition + this.CHUNK_SIZE);
                // check if the start postion is still less then end postion 
                // then call again 'uploadInChunk' method , 
                // else, diaply alert msg and hide the loading spinner
                if (startPosition < endPosition) {
                    this.uploadInChunk(component, file, fileContents, startPosition, endPosition, attachId);
                } else {
                    alert('File has been uploaded successfully');
                }
                // handel the response errors        
            } else if (state === "INCOMPLETE") {
                alert("From server: " + response.getReturnValue());
            } else if (state === "ERROR") {
                var errors = response.getError();
                if (errors) {
                    if (errors[0] && errors[0].message) {
                        console.log("Error message: " + errors[0].message);
                    }
                } else {
                    console.log("Unknown error");
                }
            }
        });
        // enqueue the action
        $A.enqueueAction(action);
    }
})

File Upload Apex Controller:
Create below apex controller to use it in FileUpload.cmp component.

public with sharing class FileUploadController {
    
    @AuraEnabled
    public static Id SaveFile(Id parentId, String fileName, String base64Data, String contentType) {
        base64Data = EncodingUtil.urlDecode(base64Data, 'UTF-8');
        Attachment attach = new Attachment();
        attach.parentId = parentId;
        attach.Body = EncodingUtil.base64Decode(base64Data);
        attach.Name = fileName;
        attach.ContentType = contentType;
        Insert attach;
        return attach.Id;
    }
}

File Upload App:

<!--FileUploadApp.app-->
<aura:application extends="force:slds">
    <c:FileUpload />    
</aura:application>

Output: