Here is a video about transferring contacts from iPhone 5S to Samsung Galaxy Note 5, also works with other iPhone and Samsung Galaxy phones
youtube.com/watch?v=tM1IiMpdujU

Using iTunes:

NOTE: In case you have iTunes installed on your computer you can use the software to sync the contacts stored on your iPhone with a Google account. Then you can resync the contacts from the account with the Samsung Galaxy S6 Active. This method requires a computer with Internet access

1. Launch iTunes on the computer
2. Connect the iPhone to your computer via USB
3. Launch iTunes and click the iPhone to access the summary page
4. Access the “Info” tab and mark the check box associated with “Sync Contacts With”
5. Select “Google Contacts” from the drop-down menu
6. Log in with your Google account or otherwise, click “Configure” and select an existing account from the list
7. Click “Apply” and wait for the sync to be complete
8. Once done, register the same Google account on your Galaxy S6 Active and allow it to sync contacts with your phone

Using iCloud:

NOTE: Using the iCloud backup service you can export your iPhone contacts as a VCF file for Android use. If you’ve used the service before, your contacts should already be backed up on your iCloud account. Access it using a computer with Internet access and continue with the steps below

1. Open the Internet browser on your computer and visit https://www.icloud.com/
2. Sign in with your iCloud account
3. Click “Contacts” and select the contacts you wish to export
4. Click “Settings” > “Export vCard”
5. Wait for the VCF file to be downloaded on the computer
6. Import the file to “Google Contacts” or skip this step and instead:
7. Connect the Galaxy S6 Active to your computer and transfer the VCF file to its storage. Then launch “Contacts” > “More” > “Settings” > “Import / Export contacts” > “Import”
8. Follow any additional steps that may follow

Using “My Contacts Backup”:

NOTE: While the two transfer methods above require access to a computer, you can also transfer your contacts using third party applications. My Contacts Backup is a third party iOS app that can be used to back up and export contacts via email.

1. Visit the App Store and install “My Contacts Backup” on your iPhone
2. Launch the application and tap “Backup”
3. After the backup file is created, tap “Email”
4. Compose a new email containing the VCF file as an attachment
5. Send the email to your own Gmail address
6. On the Galaxy S6 Active, open the email and download the attached file
7. Import the file to your phonebook using the “Contacts” app and the “Import” function

Using “Send Anywhere”:

NOTE: Send Anywhere is another third party app that uses a P2P connection to transfer contacts and other types of files, even cross platform. To use this method:

1. Open the App Store and install “Send Anywhere” on the iPhone
2. Install the same app on the Galaxy S6 from the Play Store
3. Open the application on both smartphones
4. On the iPhone, tap “Send” > “Contacts”
5. Select the contacts you want to share and tap “Send”
6. Finally, select a method of transfer. You can tap “Receive” on the Galaxy S6 Active and manually enter the transfer code form the iPhone, or you can tap “Generate QR Code” on the iPhone and scan the code with the Samsung Galaxy S6 Active’s camera to begin the transfer