First, if you had the phone synced with a google account, try getting the contact from there. It will be a lot easier and faster. If not...
While there is no guaranty that you can get them back. Deleted does mean deleted. There are a few apps/programs out there that 'may' be able to help you recover the data.
A few of the programs you could try would be... DiskDigger, MobiSaver, Android-Recovery and Tenorshare. They are all data recovery apps/programs. There are many others out there, so check around and see which you would rather try. There is also one called RECUVA, that I have heard is free, which you could try.
One important note though, most of these programs are not free. They may say they are "free" or have "Free Trials" and...