Upload a pdf file into InDesign that was created by someone else in their copy of InDesign

You can import it to InDesign easily but not edit it. Things don't work that way. If you need to edit it, get the InDesign file. 

The best option is to edit the original InDesign file. Ask the person who provided the PDF to make the edit or for them to send you the packaged job, which will include all linked images.

Use Acrobat Pro to make minor changes to the PDF.

There are converters (PDF to InDesign) available but that may be overkill in your circumstances: https://www.recosoft.com/products/pdf2id/