A function $f$ from $\mathbb{S}^d$ to itself is proper iff it is
continuous.
Note that
$\mathbb{S}^d$ is compact and so every closed subset of it is compact and viceversa
Continuous$\rightarrow$ proper.
Every continuous function $f:\mathbb{S}^d\to \mathbb{S}^d$ is proper, since $f^{-1}$ sends closed (=compact) sets to closed (=compact) sets.
Proper $\rightarrow$ continuous. Every proper function $f:\mathbb{S}^d\to \mathbb{S}^d$ is such that $f^{-1}$ sends compact (=closed) sets to compact (=closed) sets. This is one of the possible definition of continuity
The result is true in a more general form: given an Hausdorff compact space $X$, $f:X\to X$ is proper iff it is continuous,