IPhone screen broken, how can I get my contacts?

My screen is smashed so the touch screen is broken. I can see the phone is working but all touch screen function is gone.

I've tried plugging it into my laptop and going into iTunes to sync Contacts but iTunes says I have to confirm access via the phone which I can't do Because the screen is broke.

Does anyone know any software to download contacts instantly? Or any other solution?

Maybe check with your service provider.