You can try the following code, I got the the required details:
Cursor cursor = getContentResolver().query(ContactsContract.Contacts.CONTENT_URI,null,null, null,null);
while (cursor.moveToNext()) {
listName.add(cursor.getString(cursor.getColumnIndex(ContactsContract.Contacts.DISPLAY_NAME)));
listContactId.add(cursor.getString(cursor.getColumnIndex(ContactsContract.Contacts._ID)));
if (Integer.parseInt(cursor.getString(cursor.getColumnIndex(ContactsContract.Contacts.HAS_PHONE_NUMBER))) > 0) {
Cursor pCur = getContentResolver().query(
ContactsContract.CommonDataKinds.Phone.CONTENT_URI, null,ContactsContract.CommonDataKinds.Phone.CONTACT_ID +" = "+cursor.getString(cursor.getColumnIndex(ContactsContract.Contacts._ID)),null, null);
while (pCur.moveToNext()) {
listMobileNo.add(pCur.getString(pCur.getColumnIndex("DATA1")));
}
pCur.close();
} else
listMobileNo.add("");
}