It's very easy for you to retrieve contacts with the help of Samsung Data Recovery--iPubsoft Android SMS+Contacts Recovery. This powerful tool will auto scan your Samsung after connecting to PC. By extracting data from your device, it can save your lost phone numbers, emails, addresses, names onto your computer within a few minutes. Other file types can also be restored.

How to recover the deleted contact from Samsung phone ?
The guide is as follow:
Step 1. Run the program and connect your samsung phone device to computer
Step 2. Enable USB debugging on your Device
Step 3: Analyze and Scan your samsung phone for lost contact
Step 4. Preview and recover lost contact from cell phone
More information:
How to Restore lost text message from samsung phone?
How to restore the deleted contact from android phone ?