Use a mini USB cable plugged into the camera and the other end plugged into a USB port.
I am not a fan of constantly plugging and unplugging USB or the SD card. So, I devised a solution to extend the life and reduce wear and tear on the connector pins (that are delicate). I have a short mini USB cable plugged into my Nikon and the other end taped to the Flash Bracket that I use. To upload my photos from the camera to the PC, I attach a USB cable to the mini cable taped to the bracket. This way all the wear is limited to the USB cable that is easily replaced when damaged, and not to the delicate mini USB port on the camera, and on the SD card connectors on the camera.
I also use this setup to delete photos on the SD card after they have been uploaded to the PC.