I searched for days after getting my Galaxy Note and couldn't find a way to do this (at least not without buying programs for either Android/Windows). All I read was ways to sync and import the contacts to GMail but I don't want to use GMail for privacy reasons. GMail/Google steal all of your personal information and use it for whatever purposes they want to and may sell or release it to who knows where (I don't care what their policy says but this stuff happens), just like the default Android settings syncing my private data and of all things, WiFi passwords without my permission. Enough complaining about Android/Google, here's how you avoid the GMail trap.
Step 1.) Get all of your contacts into the Windows Address Book/Outlook/Express (for the iPhone the iTunes will do the job).
Step 2.) Open Windows Address Book, select all of the contacts you want.
Step 3.) Copy and then Paste into Windows Explorer and all contacts will be Exported as .vcf files. (this is a cool feature I didn't know about since I was looking to use an Export/Save As .vcf feature which doesn't exist)
Step 4.) On the Android install a free program called "Import Contacts" and point the program to whereever the .vcf files are (upload them to the iPhone using a WiFi Share program or SSH/SFTP server).
With that said, once again why can't the Android by default allow you to Import a .csv file or some other Open Format for contact for information? The obvious answer is that it's part of their conspiracy/way of forcing you to do use the GMail and so they can sift through your personal information which is the whole reason many like myself who are security conscious, do what they can do avoid it.
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