Graphene plasmons promise exciting nanophotonic and optoelectronic applications. Owing to their extremely short wavelengths, however, the efficient coupling of photons to propagating graphene plasmons-critical for the development of future devices-can be challenging. Here, we propose and numerically demonstrate coupling between infrared photons and graphene plasmons by the compression of surface polaritons on tapered bulk slabs of both polar and doped semiconductor materials. Propagation of surface phonon polaritons (in SiC) and surface plasmon polaritons (in n-GaAs) along the tapered slabs compresses the polariton wavelengths from several micrometers to around 200 nm, which perfectly matches the wavelengths of graphene plasmons. The proposed coupling device allows for a 25% conversion of the incident energy into graphene plasmons and, therefore, could become an efficient route toward graphene plasmon circuitry.