Nokia released an app called Nokia Contacts Download on their 9300 support page.

"The Nokia 9300 Contacts Download application enables the contacts download from the Nokia 9300 smartphone to the Nokia 610 Car Kit phone using Bluetooth technology. Once the application is installed on the Nokia 9300 the user can start the contacts download process from the Nokia 610 car kit phone. Up to 1000 contacts with up to 5 number entries for each contact can be stored in the Nokia 610 car kit phone"

Not sure if this works with the 9500 as well, but I'd be very surprised if this doens't work on the 9500