Do these steps if you want to download a copy of your contacts from iCloud. After you download a copy of your contacts to a file, you can import your contacts into Outlook.
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Sign in to iCloud.com with your login credentials.
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Select Contacts
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Click the gear icon, then choose Select All to mark all of your contacts for export.
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Select the gear icon again, and choose ExportvCard to copy your contacts to a .vcf file. (Your contacts will still be available in your iCloud account.)
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Now that your contacts are copied to a vcf file, you can convert them to a csv file, and then import them to Outlook for windows.