Run update
sudo apt-get update
Install ftp
sudo apt-get install vsftpd
You get a message about disk usage enter Yes
Now open up the config file by entering the following command:
sudo nano /etc/vsftpd.conf
In here add or uncomment(Remove the #) for the following settings.
anonymous_enable=NO local_enable=YES write_enable=YES local_umask=022 chroot_local_user=YES
Restart ftp server
sudo service vsftpd restart
And now you can connect with filezilla to the raspberry with SFTP (port 22)