Hello John,
If the calendar is only housed in the Outlook application you are going to need to first add your Yahoo calendar, then copy over all of your calendar entries from your Outlook only calendar to the Yahoo calendar, then you can use the share calendar link and add that calendar to your Samsung phone. After that, your calendar will sync across Yahoo, the Outlook app, and your Samsung phone. At this point, Yahoo calendar will the intermediary for all of your devices to stay in sync. You can tap or click here to see how.