Sync contacts on Android to your Google account
On iPhone, go to Settings
Tap Contacts
Tap Accounts
Tap Add Account
Select Google
Sign in with the same Google account used on Android
Turn on Contacts sync
Open the Contacts app on iPhone
Wait for contacts to finish syncing
If needed, export contacts from Android as a .vcf file
Send the .vcf file to iPhone
Open the .vcf file on iPhone and import contacts
Check that all contacts appear on the iPhone