Go into the People app. If it's the first time you open it, on the left it will asks which accounts you wish to add. One of them should be Outlook. Put in your credentials and hit okay. This should import your contacts.
You can also bring up the Charms, select the Settings cog and tap account. From there you can add accounts as well.
Also, in the Mail app, if you add your Outlook account I think it imports all of your contacts as well or asks you if you wish to do this.
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