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If you sync your iPhone with iTunes before restore, that is easy to get the lost data back.
You can try restoring from the latest backup to get the data back with the help of iPhone data recovery software. To do this:

Step 1: Connect your iPhone to the computer
Step 2: Open iTunes
Step 3: In iTunes, enable the sidebar through View -> Show Sidebar
Step 4: Right-click on your device and press ‘Restore from backup…
Step 5: Choose the latest backup and proceed.

Read more: Recover SMS from iPhone 6 after iOS 9 upgrade

By the time the restore is done, you might mostly recover lost iPhone data you’re looking for.

If you have no backup, don't worry, there is still anther way for you to get the data back - directly recover data from iPhone on iOS 9, read the detail to recover the iPhone data: recover deleted imessages on iPhone, restore iPhone contacts
Read more iOS Recovery or Transfer use guide from: http://www.recovery-transfer.com/

Don’t worry! iOS 9 Data Recovery tool can solve your problems! This program is a professional data recovery for iOS users, it not only supports recover media files: Contacts, video and Pictures, but also recover other files including SMS, Call History, Calendar, Notes, Voice Memos, Voice Memos, iBooks reading, Reminders and Safari Bookmarks etc.

Three ways for your recover lost contacts from iPhone 6s after jailbreak:

Part 1: Scan and Recover lost data from jailbroken iPhone 6s/6 directly

Part 2: Extract iTunes Backup to Retrieve Previous Data and Lost Data

Part 3: Download and Scan iCloud to Recover Previous Data

Read more: recover lost data from a jailbroken iPhone6s/6 on iOS 9