Here's a free way to do it:
- Using BitPim get the contacts from your phone.
- Export them as a vCard (File>Export>vCards...)
- Change the Dialect to "Apple" and click OK.
- In your Google contacts (Google Voice, Gmail, etc.) click import and browse to the file you just created and click Import.
That's it you should now have all your contacts in your Google account ready for you to get your Droid.