Upload from media library?

Does anyone know if it’s possible to attach files to a post from the media library. It seems unnecessary to upload a file that already exists in the library. I’m happy to upgrade to the pro version if this function is available?

Thanks for the reply,
For me it seems to open up a directory browser which mean going to /wordpress/wp-content/uploads then trying to find the file. My users wont be able to manage this. Is there a way to invoke the WordPress media library, like when you click the ‘add media’ button?