On the Samsung device, deleted contacts are placed in the Trash by default. After 15 days, they are automatically deleted. Within these 15 days, we can restore deleted contacts.

Android 10 (One UI 2.0)
Step 1:  Open the  Contacts -App
Step 2:  Open the  menu
Step 3:  Tap on  Recycle bin
Step 4:  Open the  menu
Step 5:  Tap on  Restore or delete contacts
Step 6:  Select all desired  contacts
Step 7:  Tap on  Restore
  1. Open the Contacts-App
  2. Open the menu
  3. Tap on Recycle bin
  4. Open the menu
  5. Tap on Restore or delete contacts
  6. Select all desired contacts
  7. Tap on Restore

Samsung Instructions