Enable USB Debugging Mode by Tapping 7-10 Times on Build Number in Settings -> About.
*Switch off your phone and Enter into Download mode by pressing Volume Down+Home+Power Buttons.
After entering into Download Mode it will say Warning, Press Volume Up button to continue.
Connect Your phone to your PC via a USB Cable.
Launch Odin Application.
It Will Show the message added,If you did not get this message Repeat the above steps.
After Getting Added Message Select PDA Button then Browse for the TWRP Recovery file Select it.
Tick the Auto reboot.
Hit start.
After your phone reboots turn it back off and see if the TWRP install worked by pressing the Volume Up+Home+Power Buttons.