If you have your contacts synced with your google account they should appear in gmail contacts. If they are just on the phone I believe you can use the menu button while in contacts to see import/export and once you click on that it will give you a set of options to export them. If that does not work for you feel free to post another question or register on the forums and ask in your devices sub-forum.
Depends what you have on your PC to store the contacts and what phone you have.
Some phones - e.g. anything from HTC and Samsung - come with their own PC sync software that will allow you to sync with Microsoft Outlook and some other common PC apps using a USB cable.
There are also some generic apps you can get from the Play Store that will do this - I use AndroidSync which allows me to sync with Outlook over WiFi. It's not perfect, but it is free
Alternatively, you can simply sync your phone with your Google account and then you'll be able to access your contacts via your Gmail account.
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