Let $R$ be a commutative ring and $p\subseteq R$ an ideal. An $n\times n$-matrix $A$ with coefficients in $R$ is invertible iff $\det(A)\in R^\times$. The determinant is a sum of products of the entries of the matrix. Hence the image of the map $$GL_n(R)\rightarrow GL_n(R/p)$$ is contained in the subgroup of matrices $B\in GL_n(R/p)$ so that $\det(B)$ is in the image of the units $R^\times$ in $R/p$.
Is the image of the described map precisely this subgroup?
I think this argument should work.
Let $A+B \in Mat_n(k)$, where $B$ has all of its entries in $p$. I claim that there exists $\beta \in p$ such that $det(A+B)=det(A)+\beta$. This is clear if $n=1$.
Now suppose the claim is true for some $n$. Write $A+B=(a_{ij}+b_{ij}) \in Mat_{n+1}(k)$. Then $det(A+B)= \sum_{j=1}^{n+1}(a_{ij}+b_{ij})C_{ij}$, where $C_{ij}$ is the $ij$th cofactor of $A+B$. By the induction step, $C_{ij}=\alpha_{ij}+\beta_{ij}$, where $\alpha_{ij}$ is the cofactor of the $ij$th minor of $A$, so $$det(A+B)= \sum_{j=1}^{n+1}(a_{ij}+b_{ij})(\alpha_{ij}+\beta_{ij})=\sum_{j=1}^{n+1} a_{ij}\alpha_{ij}+a_{ij}\beta_{ij}+b_{ij}\alpha_{ij}+b_{ij}\beta_{ij}= det(A)+ \beta,$$ where $\beta=\sum_{j=1}^{n+1}a_{ij}\beta_{ij}+b_{ij}\alpha_{ij}+b_{ij}\beta_{ij} \in p$, since $p$ is an ideal.
A representative for a matrix in $GL_n(k/p)$ is a sum $A+B \in Mat_n(k)$ such that $B$ has all of its entries in $p$ and $det(A+B)+p \in (k/p)^*$. But we're now done. To see this, note that if $det(\overline{A})$ is in the image of $k^*$ (where $\overline{A}=[A+B]$), then $det(A) \in k^*$ by the claim, so $A \in GL_n(k)$ and $\pi(A)= \overline{A}$, where $\pi:GL_n(k) \to GL_n(k/p)$.