Clip on connector to program board (so no extra weight when not programming)
This technique is often used on USB pen drives, etc., where a proper USB type A plug is not fitted but the edge contacts on the PCB connect with the host - provided the device is plugged in the right way up.



Figure 1. Gold-plated contacts on a PCB.

If this is not for a commercial product then something like this could work well for you and you can use the female end of a USB extender cable as your programming lead and socket.