Go into your "my devices" in your computer settings. Look for your usb drivers. You will see quite a few depending on how many things you have connected to your computer. Look for the ones for your phone, should say something like "samsung usb". Delete it, either right click and "remove" or "uninstall drivers"...
Now plug your phone into the computer and the drivers should now properly install.
*i am not in front of my computer at the moment, so the folder and device names arnt exact, they are off the top of my head but will be similar.