Depending on what Android phone you have (HTC, Samsung, etc), use the native desktop manager software offered by your android phone producer to transfer your phone contacts to your PC. It is advisable that you save your old phone contacts in vCard format on your outlook which preserves most data (i.e. contact profile picture, etc).
Once you have the contacts to Outlook, you can use itunes or some
non-apple tool. To transfer the contacts from your PC to your new iphone 5.