Set your iphone to back up contacts over your icloud account. On your web browser using desktop or laptop, go to icloud.com. Sign in your account and once signed in, select Contacts. Your contacts will appear. Select all or highlight all contacts. Then on the lower left corner select the "+" or setting sign and choose "Export all".
A file will be downloaded. Go to the folder in your laptop where the file was downloaded. Copy that file into your Samsung. On your phone, browse the file and click it. The phone will asked you where to add the contacts. Choose 'device'. The file name of the file will be the first name of your first contact followed by how many contacts you have.