First, determine where your contacts are stored for each device. Open the contacts app. Select the line menu on the top left. Tape where it says "all contacts" to see where your contacts are stored. Choose manage contacts, choose move contacts. Select where you want the contacts moved from, then select where you want them moved to. Do this on both devices. I recommend moving them all to Google contacts, that way you can see, add and edit them on any device, and they will be synced across devices as long as those devices are logged into your Google account. If you move them to your Samsung account, they will only be usable on Samsung devices, if you move them to the respective devices, they will reside on each device, and you will have to create new ones on each device. If you move them to the SIM card, they will not be available on a device without that SIM card.
After you move the contacts into one location, go to manage contacts once again and select merge contacts, that will eliminate any duplicates.
