All you should have to do is attach phone to PC via USB and KIES should recognise it. Seems I wasted a day for you as its not seeing your phone on the other end of USB - here are some steps you can try to get Kies to see phone:
http://www.samsung.com/au/support/skp/faq/1045196
I know driver sites say they have drivers for 8 & 10 but I have my doubts, as Samsung don't have anything for phone past win 8 so it could be 10 literally doesn't support the phone. I would see what the Samsung chat people have to say, they might have a link to a driver I cannot find.
Another possible reason they don't install is Microsoft recently started enforcing driver signatures on the drivers and its likely Samsung didn't release signed Win 10 drivers for the phone, and Win 10 will just reject them, and not let them run. I don't know how you would get around that.