how to move contacts without a sim card from android to iphone

I can not seem to get my Android phone contacts on my iphone 6s plus. I have tried everything that was suggested. The last on being I copied my contacts from my Android and placed the folder on my desktop. When I open icloud to drag and drop the folder in contacts it just will not go. Notification said that I needed the driver. I tried downloading this. I did not want to install itunes on my pc but after all this trouble I decided to install itunes on my pc because they said the driver(s) would automatically be installed. This has not worked. I have had this phone for four days and still I can not transfer my contacts to it. The sim card does not fit the new iphone. The man at the store said it would be difficult. I would think they would make this transfer easy being the primary use of a cell phone is to make calls from your contact list. help.