On the Samsung device, you can import contacts from a vCard (.vcf) file or from the SIM card, and apart from the SIM card, the contacts you want to import can be either on the internal memory or on the memory card.

Contacts can be imported into your Samsung account, Google account or phone memory.

Android 10 (One UI 2.0)
Step 1:  Open the  Contacts -App
Step 2:  Open the  menu
Step 3:  Tap on  Manage contacts
Step 4:  Tap on  Import or export contacts
Step 5:  Tap on  Import
Step 6:  Choose the  Source
Step 7:  Choose a new  Location
Step 8:  Tap on  Import
Step 9:  Confirm with  OK
  1. Open the Contacts-App
  2. Open the menu
  3. Tap on Manage contacts
  4. Tap on Import or export contacts
  5. Tap on Import
  6. Choose the Source
  7. Choose a new Location
  8. Tap on Import
  9. Confirm with OK

Samsung Instructions