Open the AirPods case lid
Press and hold the setup button on the back of the AirPods case until the light flashes white
On your Samsung phone, open Settings
Tap Connections
Tap Bluetooth
Turn Bluetooth on
Tap Scan or Search for devices
Select your AirPods from the list
Tap Pair or OK if prompted
Wait for the connection to complete
Close the case and use your AirPods