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Hi and welcome to the community!
Contacts stored as phone contacts are not synchronized with any online service so there's no automatic backup made of them i'm afraid. If you have made a backup of your contacts to your SIM card or SD card you can import them from there. To import contacts from the SIM card or SD card, open Contacts, press the menu button and then select "Import contacts" and then your SIM or SD.
But if you haven't made a backup of these contacts i'm afraid it will not be possible to restore them.