How to import cases with related contacts?

Using: SugarCRM Professional, Version 7.2.2.1 (Build 1017)

I am trying to import a CSV file with a list of cases that includes the account name and contacts, but there are no contact related fields that show up in the Sugar mapping tool.  I migrated from SFDC and the consulting people we went with really did a number on my case data and I have been unable to use anything that was imported since it was not connected to any accounts and contacts.

I exported what is in Sugar now and added the account names and contact names in and tried to import but was only able to get the accounts in.  I then trimmed it down to the basics keeping the contacts in there and account still but I still cannot find any contact fields to map to when walking through the import.

I tried the documentation but nothing talks about importing cases with contacts.

Also, the contacts are already in the system and tied to the accounts.