Drill up into the wall
Drill on an angle
You could try and dill up from underneath at just the right angle. Though this might be difficult, since you may not have much room to work and getting the proper angle could be impossible.
Use a flexible bit
In some situations, there might be enough room available to get a flexible bit into position from below. Though again, space may be limited making it difficult.
The more appropriate way to accomplish this task, is to drill from the top down. Start by cutting an access hole in the wall. About the size of an electrical box will do. This might be convenient, if you're installing a receptacle or something in the area. If you're not installing a device, cut the hole large enough to give yourself plenty of room to work. Patching a large hole in drywall is just as easy as patching a small one (sometimes easier).
Once you have the hole, use a flexible drill bit to drill down through the bottom plate. Use and alignment tool, to make sure the bit is in the proper position.
Flexible drill bit placement tool
Flexible drill bit
Man using a flexible drill bit