hi. find the contact icon in the big list of applications and press down on it for a bit. when the screen jiggles you can then place it wherever you want it on any of your home screens or on the nav bar at the bottom.
As peterb23 described just open the Applications menu and find Contacts, tap and hold on it until the app menu disappear and you see your Homescreen, then just drop the icon wherever you want it.
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