Install Smart Switch from the play store. Samsung created the app really to transfer basically everything from one whone to the other. But you can select only contacts to transfer over. It is the best App to use when switching Samsung devices
Transfer files from one phone to another couldn't be easier with a phone transfer program. Simply open it, connect both the phones to your computer and click start transfer. Phone numbers, photos, songs, videos and other media files are moved to your new phone.