In order to couple into or out of a silicon photonic waveguide on silicon on insulator (SOI) substrate from optical fibers, we present a simple but practical method to design a grating coupler. The grating is periodic with fully etched slots; strong reflection between the fully etched grating and the waveguide is avoided by adding an antireflection interface. Theoretical coupling efficiency up to 43% is demonstrated. A taper waveguide used to link the grating and waveguide is also designed.