Using mod_rewrite is not the recommended way instead use virtual host and redirect.
In case, if you are inclined to do using mod_rewrite:
RewriteEngine On
# This will enable the Rewrite capabilities
RewriteCond %{HTTPS} !=on
# This checks to make sure the connection is not already HTTPS
RewriteRule ^/?(.*) https://%{SERVER_NAME}/$1 [R,L]
# This rule will redirect users from their original location, to the same
location but using HTTPS.
# i.e. http://www.example.com/foo/ to https://www.example.com/foo/
# The leading slash is made optional so that this will work either in
# httpd.conf or .htaccess context
Reference: Httpd Wiki - RewriteHTTPToHTTPS
If you are looking for a 301 Permanent Redirect, then redirect flag should be as,
R=301
so the RewriteRule will be like,
RewriteRule ^/?(.*) https://%{SERVER_NAME}/$1 [R=301,L]