The Circle, Metropolitan, Hammersmith and City and District lines are subsurface, which means they will be accessed by steps. I can't think of any stations on these lines with escalators though there could be the odd one. It will be a short one if there is.
All other lines are tube lines which are in the centre of London deep below the surface and accessed mainly by escalator or occasionally by lift. Some of the time they will have stairs as well - the ones with a lift have a spiral staircase that winds around the lift shaft and some but not all of the ones with escalators have a set of stairs between the up and down escalators.