We describe a physical-contact (PC) multicore fiber (MCF) connector with good optical characteristics. To achieve stable physical-contact connection, we clarify the relationship between connector-end deformation and compression force with spherical polished ferrule end structures using finite element analysis and actual measurements. On the basis of the obtained relationship, we demonstrate a design approach that shows the physical-contact condition of all the cores of a multicore fiber with a simplex connector. In addition, we clarify the design criteria for low-loss connection by employing a rotational angle alignment structure, and devise an SC-type rotational MCF connector with high alignment accuracy. Based on our designs for PC and low-loss connection, we demonstrate an MCF connector with PC connection that provides a sufficiently high return loss exceeding 50dB and a sufficiently low connection loss of below 0.2dB for all the cores of a 7-core single-mode MCF.