Absolutely we can help you in this situation. Due to the devices you are using, the easiest and fastest way to transfer the contacts would be using the SIM card. You can use the Nokia XpressMusic 5130 user guide to copy all of your contacts to the SIM card, then use the Samsung T139 user guide to copy the contacts from the SIM card to that device. Depending on how many contacts you have, you may need to perform this operation more than once to copy all the contacts.
Hope this helps!