<apex:page standardController="Opportunity" extensions="LightningOutDemoCtrl">
<apex:includeLightning />

<div id="CardContainer" >

</div>
<script>
    var Id = '{!$CurrentPage.parameters.Id}';
    console.log(Id);
    $Lightning.use("c:LightningComponentFromVFApp", function() {
        $Lightning.createComponent("c:NewFileUpload",
                                   {
                                       recordId : Id
                                   },
                                   "CardContainer",
                                   function(cmp) {
                                       console.log('Component created');
                                   });
        });
</script>

public class LightningOutDemoCtrl {

public Id recordId{get;set;}

public LightningOutDemoCtrl(ApexPages.StandardController stdcontroller){
  recordId = ApexPages.currentPage().getParameters().get('id');
  System.debug('Record Id is: '+recordId);
 }
}

<aura:application access="GLOBAL" extends="ltng:outApp">
  <aura:dependency resource="c:NewFileUpload"/>
</aura:application>

<aura:component implements="force:appHostable,flexipage:availableForAllPageTypes,flexipage:availableForRecordHome,force:hasRecordId,forceCommunity:availableForAllPageTypes,force:lightningQuickAction" access="global" >

    This is New File Upload component.
    {!v.recordId}
    <aura:attribute name="recordId" type="Id"/>
    <lightning:fileUpload label="Upload File" multiple="true" recordId="{!v.recordId}" aura:id="multifileUpload" onuploadfinished="{!c.handleUploadFinished}" />

</aura:component>

({
handleUploadFinished: function (cmp, event) {
    //Get the list of uploaded files
    debugger;
    var uploadedFiles = event.getParam("files");
    //Show success message – with no of files uploaded
    var toastEvent = $A.get("e.force:showToast");
    toastEvent.setParams({
        "title": "Success!",
        "type" : "success",
        "message": uploadedFiles.length+" files uploaded successfully!"
    });
    toastEvent.fire();

    $A.get('e.force:refreshView').fire();

    //Close the action panel
    var dismissActionPanel = $A.get("e.force:closeQuickAction");
    dismissActionPanel.fire();
  }
})